17 lines
403 B
Python
17 lines
403 B
Python
from sb3_contrib import TRPO
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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 = TRPO("MlpPolicy", env, use_sde=False, sde_sample_freq=4, verbose=1)
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model.learn(total_timesteps=250000)
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