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using the CoRL2017 experiment suite for CARLA_CIL

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itaicaspi-intel
2018-09-13 16:59:22 +03:00
parent 06c969951e
commit e8a2b679d1
6 changed files with 44 additions and 28 deletions
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5
rl_coach/agents/cil_agent.py
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@@ -29,6 +29,7 @@ class CILAlgorithmParameters(AlgorithmParameters):
def __init__(self):
super().__init__()
self.collect_new_data = False
self.state_key_with_the_class_index = 'high_level_command'
class CILNetworkParameters(NetworkParameters):
@@ -63,7 +64,7 @@ class CILAgent(ImitationAgent):
self.current_high_level_control = 0
def choose_action(self, curr_state):
self.current_high_level_control = curr_state['high_level_command']
self.current_high_level_control = curr_state[self.ap.algorithm.state_key_with_the_class_index]
return super().choose_action(curr_state)
def extract_action_values(self, prediction):
@@ -74,7 +75,7 @@ class CILAgent(ImitationAgent):
target_values = self.networks['main'].online_network.predict({**batch.states(network_keys)})
branch_to_update = batch.states(['high_level_command'])['high_level_command']
branch_to_update = batch.states([self.ap.algorithm.state_key_with_the_class_index])[self.ap.algorithm.state_key_with_the_class_index]
for idx, branch in enumerate(branch_to_update):
target_values[branch][idx] = batch.actions()[idx]