24 lines
484 B
Python
24 lines
484 B
Python
from stable_baselines3 import PPO
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from intersim.envs import IntersimpleLidarFlat
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from intersim.envs.intersimple import speed_reward
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import functools
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env = IntersimpleLidarFlat(
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n_rays=5,
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agent=51,
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reward=functools.partial(
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speed_reward,
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collision_penalty=0
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),
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)
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model = PPO(
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"MlpPolicy", env,
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learning_rate=1e-4,
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verbose=1,
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use_sde=False,
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sde_sample_freq=4,
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)
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model.learn(total_timesteps=100000)
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model.save('sb3-ppo-intersimple')
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