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changing gitignore to upload expert data for evaluation, adding multiple roundabout trackfile environments in vecenv

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Arec Jamgochian
2022-02-25 01:21:16 -08:00
parent bf9ce84fe4
commit 46564231ef
2 changed files with 4 additions and 4 deletions
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1
.gitignore vendored
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@@ -143,7 +143,6 @@ dmypy.json
# Datasets # Datasets
datasets/ datasets/
expert_data/
# Results # Results
experiments/results/ experiments/results/

7
sgail-ppo-options-setobs2.py
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@@ -38,16 +38,17 @@ def training_function(config):
[50, np.pi, 20, 20, np.pi, 1e-1], [50, np.pi, 20, 20, np.pi, 1e-1],
]).reshape(-1) ]).reshape(-1)
envs = [SafeOptionsEnv(Setobs( envs = sum([[SafeOptionsEnv(Setobs(
TransformObservation(CollisionPenaltyWrapper(IntersimpleLidarFlatRandom( TransformObservation(CollisionPenaltyWrapper(IntersimpleLidarFlatRandom(
n_rays=5, n_rays=5,
reward=functools.partial( reward=functools.partial(
speed_reward, speed_reward,
collision_penalty=0 collision_penalty=0
), ),
stop_on_collision=False, stop_on_collision=False, track=track,
), collision_distance=6, collision_penalty=100), lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)) ), collision_distance=6, collision_penalty=100), lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10))
), options=config['policy']['option'], safe_actions_collision_method='circle', abort_unsafe_collision_method='circle') for _ in range(60)] ), options=config['policy']['option'], safe_actions_collision_method='circle',
abort_unsafe_collision_method='circle') for _ in range(20)] for track in range(4)],[])
env_fn = lambda i: envs[i] env_fn = lambda i: envs[i]