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Allow variable horizon trajectories

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This commit is contained in:
Johannes Fischer
2021-09-10 11:34:36 +02:00
parent b2b2abafa2
commit 544ea4d15a
3 changed files with 3 additions and 2 deletions
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1
scratch/etienne/intersimple/gail_flat.py
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@@ -47,6 +47,7 @@ gail_trainer = adversarial.GAIL(
n_disc_updates_per_round=32, n_disc_updates_per_round=32,
discrim_kwargs={'discrim_net': MlpDiscriminator()}, discrim_kwargs={'discrim_net': MlpDiscriminator()},
gen_algo=sb3.PPO("MlpPolicy", venv, verbose=1, n_steps=4530), gen_algo=sb3.PPO("MlpPolicy", venv, verbose=1, n_steps=4530),
allow_variable_horizon=True,
) )
gail_trainer.train(total_timesteps=400000) gail_trainer.train(total_timesteps=400000)
gail_trainer.gen_algo.save(model_name) gail_trainer.gen_algo.save(model_name)

1
scratch/etienne/intersimple/gail_image.py
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@@ -47,6 +47,7 @@ gail_trainer = adversarial.GAIL(
#n_disc_updates_per_round=2048, #n_disc_updates_per_round=2048,
discrim_kwargs={'discrim_net': CnnDiscriminator(venv)}, discrim_kwargs={'discrim_net': CnnDiscriminator(venv)},
gen_algo=sb3.PPO("CnnPolicy", venv, verbose=1, n_steps=1024), gen_algo=sb3.PPO("CnnPolicy", venv, verbose=1, n_steps=1024),
allow_variable_horizon=True,
) )
gail_trainer.train(total_timesteps=100000) gail_trainer.train(total_timesteps=100000)
gail_trainer.gen_algo.save(model_name) gail_trainer.gen_algo.save(model_name)

1
scratch/etienne/intersimple/gail_options.py
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@@ -47,7 +47,6 @@ def target_velocity_plan(current_v: float, target_v: float, t: int)
# for now, constant acceleration # for now, constant acceleration
a = (target_v - current_v) / t a = (target_v - current_v) / t
return a*np.ones((t,)) return a*np.ones((t,))
Hello
def generate_plan(env, i): def generate_plan(env, i):
"""Generate input profile for high-level action `i`.""" """Generate input profile for high-level action `i`."""