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config.yml
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ENV_CONFIG:
jetbot:
robot_name: 'jetbot-v0'
wrapped_env: 'learning_racer.agent.teleoperation:TeleoperationEnv'
parts:
teleoperation: 'learning_racer.teleoperate:Teleoperation'
jetracer:
robot_name: 'jetracer-v0'
wrapped_env: 'learning_racer.agent.teleoperation:TeleoperationEnv'
parts:
teleoperation: 'learning_racer.teleoperate:Teleoperation'
jetbot-auto:
robot_name: 'jetbot-v0'
wrapped_env: 'learning_racer.agent.auto_stop:AutoStopEnv'
jetracer-auto:
robot_name: 'jetracer-v0'
wrapped_env: 'learning_racer.agent.auto_stop:AutoStopEnv'
sim:
robot_name: 'donkey-generated-track-v0'
conf:
exe_path: 'remote'
port: 9091
host: 'localhost'
wrapped_env: 'learning_racer.agent.simulator:SimulatorEnv'
SAC_SETTING:
LOG_INTERVAL: 1
VERBOSE: 1
LEARNING_RATE: 3e-4
ENT_COEF: 'auto_0.1'
TRAIN_FREQ: 1
BATCH_SIZE: 64
GRADIENT_STEPS: 600
LEARNING_STARTS: 300
BUFFER_SIZE: 30000
VARIANTS_SIZE: 32
IMAGE_CHANNELS: 3
GAMMA: 0.99
TAU: 0.02
USER_SDE_AT_WARMUP: true
USER_SDE: true
SDE_SAMPLE_FREQ: 64
#HyperParameter for Reward
REWARD_SETTING:
REWARD_CRASH: -10
CRASH_REWARD_WEIGHT: 5
THROTTLE_REWARD_WEIGHT: 0.1
#AGENT_SETTING:
# # Agent settings
# N_COMMAND_HISTORY: 10
# MIN_STEERING: -1.0
# MAX_STEERING: 1.0
# MIN_THROTTLE: 0.3
# MAX_THROTTLE: 0.5
# MAX_STEERING_DIFF: 0.15
#s#JetBot Reference
#AGENT_SETTING:
# N_COMMAND_HISTORY: 10
# MIN_STEERING: -0.5
# MAX_STEERING: 0.5
# MIN_THROTTLE: 0.3
# MAX_THROTTLE: 0.5
# MAX_STEERING_DIFF: 0.05
AGENT_SETTING:
# Agent settings
N_COMMAND_HISTORY: 20
MIN_STEERING: -1.0
MAX_STEERING: 1.0
MIN_THROTTLE: 0.7 # 0.4
MAX_THROTTLE: 0.95 # 0.9
MAX_STEERING_DIFF: 0.9 #0.35
JETRACER_SETTING:
STEERING_CHANNEL: 0
THROTTLE_CHANNEL: 1
STEERING_GAIN: -0.65
THROTTLE_GAIN: -0.8
VAE_AUTO_STOP:
VAE_AUTO_STOP: true
VAE_AUTO_STOP_THRESHOLD: 4000