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CARLA cleanups + calculating the distance to goal

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itaicaspi-intel
2018-09-16 16:37:04 +03:00
parent 6797824892
commit bb76c5c726
3 changed files with 8 additions and 7 deletions
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6
rl_coach/utilities/carla_dataset_to_replay_buffer.py
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@@ -71,10 +71,6 @@ def create_dataset(dataset_root, output_path):
observations = train_set['rgb'][:] # forward camera
measurements = np.expand_dims(train_set['targets'][:, 10], -1) # forward speed
actions = train_set['targets'][:, :3] # steer, gas, brake
# actions[:, :2] = actions[:, 1:3]
# actions[:, 2] = train_set['targets'][:, 0] # gas, brake, steer
# actions[:, 1] -= actions[:, 2]
# actions = actions[:, :2][:, ::-1]
high_level_commands = train_set['targets'][:, 24].astype('int') - 2 # follow lane, left, right, straight
@@ -104,4 +100,4 @@ if __name__ == "__main__":
default='carla_train_set_replay_buffer.p')
args = argparser.parse_args()
create_dataset(args.dataset_root, args.output_path)
create_dataset(args.dataset_root, args.output_path)