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Code Issues Projects Releases Wiki Activity

Adding target reward and target sucess (#58)

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* Adding target reward

* Adding target successs

* Addressing comments

* Using custom_reward_threshold and target_success_rate

* Adding exit message

* Moving success rate to environment

* Making target_success_rate optional
This commit is contained in:
Ajay Deshpande
2018-11-12 15:03:43 -08:00
committed by Balaji Subramaniam
parent 0fe583186e
commit 875d6ef017
17 changed files with 162 additions and 74 deletions
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9
rl_coach/environments/carla_environment.py
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@@ -133,8 +133,8 @@ class CarlaEnvironment(Environment):
allow_braking: bool, quality: CarlaEnvironmentParameters.Quality,
cameras: List[CameraTypes], weather_id: List[int], experiment_path: str,
separate_actions_for_throttle_and_brake: bool,
num_speedup_steps: int, max_speed: float, **kwargs):
super().__init__(level, seed, frame_skip, human_control, custom_reward_threshold, visualization_parameters)
num_speedup_steps: int, max_speed: float, target_success_rate: float = 1.0, **kwargs):
super().__init__(level, seed, frame_skip, human_control, custom_reward_threshold, visualization_parameters, target_success_rate)
# server configuration
self.server_height = server_height
@@ -261,6 +261,8 @@ class CarlaEnvironment(Environment):
image = self.get_rendered_image()
self.renderer.create_screen(image.shape[1], image.shape[0])
self.target_success_rate = target_success_rate
def _add_cameras(self, settings, cameras, camera_width, camera_height):
# add a front facing camera
if CameraTypes.FRONT in cameras:
@@ -461,3 +463,6 @@ class CarlaEnvironment(Environment):
image = [self.state[camera.name] for camera in self.scene.sensors]
image = np.vstack(image)
return image
def get_target_success_rate(self) -> float:
return self.target_success_rate