Release 0.9

Main changes are detailed below:

New features -
* CARLA 0.7 simulator integration
* Human control of the game play
* Recording of human game play and storing / loading the replay buffer
* Behavioral cloning agent and presets
* Golden tests for several presets
* Selecting between deep / shallow image embedders
* Rendering through pygame (with some boost in performance)

API changes -
* Improved environment wrapper API
* Added an evaluate flag to allow convenient evaluation of existing checkpoints
* Improve frameskip definition in Gym

Bug fixes -
* Fixed loading of checkpoints for agents with more than one network
* Fixed the N Step Q learning agent python3 compatibility

environments/CarlaSettings.ini

@@ -0,0 +1,62 @@
+[CARLA/Server]
+; If set to false, a mock controller will be used instead of waiting for a real
+; client to connect.
+UseNetworking=true
+; Ports to use for the server-client communication. This can be overridden by
+; the command-line switch `-world-port=N`, write and read ports will be set to
+; N+1 and N+2 respectively.
+WorldPort=2000
+; Time-out in milliseconds for the networking operations.
+ServerTimeOut=10000000000
+; In synchronous mode, CARLA waits every frame until the control from the client
+; is received.
+SynchronousMode=true
+; Send info about every non-player agent in the scene every frame, the
+; information is attached to the measurements message. This includes other
+; vehicles, pedestrians and traffic signs. Disabled by default to improve
+; performance.
+SendNonPlayerAgentsInfo=false
+
+[CARLA/LevelSettings]
+; Path of the vehicle class to be used for the player. Leave empty for default.
+; Paths follow the pattern "/Game/Blueprints/Vehicles/Mustang/Mustang.Mustang_C"
+PlayerVehicle=
+; Number of non-player vehicles to be spawned into the level.
+NumberOfVehicles=15
+; Number of non-player pedestrians to be spawned into the level.
+NumberOfPedestrians=30
+; Index of the weather/lighting presets to use. If negative, the default presets
+; of the map will be used.
+WeatherId=1
+; Seeds for the pseudo-random number generators.
+SeedVehicles=123456789
+SeedPedestrians=123456789
+
+[CARLA/SceneCapture]
+; Names of the cameras to be attached to the player, comma-separated, each of
+; them should be defined in its own subsection. E.g., Uncomment next line to add
+; a camera called MyCamera to the vehicle
+
+Cameras=CameraRGB
+
+; Now, every camera we added needs to be defined it in its own subsection.
+[CARLA/SceneCapture/CameraRGB]
+; Post-processing effect to be applied. Valid values:
+;   * None                  No effects applied.
+;   * SceneFinal            Post-processing present at scene (bloom, fog, etc).
+;   * Depth                 Depth map ground-truth only.
+;   * SemanticSegmentation  Semantic segmentation ground-truth only.
+PostProcessing=SceneFinal
+; Size of the captured image in pixels.
+ImageSizeX=360
+ImageSizeY=256
+; Camera (horizontal) field of view in degrees.
+CameraFOV=90
+; Position of the camera relative to the car in centimeters.
+CameraPositionX=200
+CameraPositionY=0
+CameraPositionZ=140
+; Rotation of the camera relative to the car in degrees.
+CameraRotationPitch=0
+CameraRotationRoll=0
+CameraRotationYaw=0