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updated CARLA to allow using actions of size 3 + automatic downloading of the CARLA imitation dataset

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itaicaspi-intel
2018-09-16 12:07:11 +03:00
parent d3c8a5d7c1
commit cf892463e2
4 changed files with 106 additions and 32 deletions
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26
rl_coach/presets/CARLA_CIL.py
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@@ -1,4 +1,6 @@
import numpy as np
import os
from logger import screen
# make sure you have $CARLA_ROOT/PythonClient in your PYTHONPATH
from carla.driving_benchmark.experiment_suites import CoRL2017
@@ -23,6 +25,8 @@ from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.schedules import ConstantSchedule
from rl_coach.spaces import ImageObservationSpace
from rl_coach.utilities.carla_dataset_to_replay_buffer import create_dataset
####################
# Graph Scheduling #
@@ -100,14 +104,23 @@ agent_params.exploration.evaluation_noise_percentage = 0
# no playing during the training phase
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentSteps(0)
# the CARLA dataset should be downloaded through the following repository:
# https://github.com/carla-simulator/imitation-learning
# the dataset should then be converted to the Coach format using the script utils/carla_dataset_to_replay_buffer.py
# the path to the converted dataset should be updated below
# use the following command line to download and extract the CARLA dataset:
# python rl_coach/utilities/carla_dataset_to_replay_buffer.py
agent_params.memory.load_memory_from_file_path = "./datasets/carla_train_set_replay_buffer.p"
agent_params.memory.state_key_with_the_class_index = 'high_level_command'
agent_params.memory.num_classes = 4
# download dataset if it doesn't exist
if not os.path.exists(agent_params.memory.load_memory_from_file_path):
screen.log_title("The CARLA dataset is not present in the following path: {}"
.format(agent_params.memory.load_memory_from_file_path))
result = screen.ask_yes_no("Do you want to download it now?")
if result:
create_dataset(None, "./datasets/carla_train_set_replay_buffer.p")
else:
screen.error("Please update the path to the CARLA dataset in the CARLA_CIL preset", crash=True)
###############
# Environment #
###############
@@ -116,12 +129,13 @@ env_params.level = 'town1'
env_params.cameras = ['CameraRGB']
env_params.camera_height = 600
env_params.camera_width = 800
env_params.allow_braking = False
env_params.separate_actions_for_throttle_and_brake = True
env_params.allow_braking = True
env_params.quality = CarlaEnvironmentParameters.Quality.EPIC
env_params.experiment_suite = CoRL2017('Town01')
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST)]
vis_params.dump_mp4 = True
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,