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125c7ee38d
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
63 lines
2.4 KiB
INI
63 lines
2.4 KiB
INI
[CARLA/Server]
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; If set to false, a mock controller will be used instead of waiting for a real
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; client to connect.
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UseNetworking=true
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; Ports to use for the server-client communication. This can be overridden by
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; the command-line switch `-world-port=N`, write and read ports will be set to
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; N+1 and N+2 respectively.
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WorldPort=2000
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; Time-out in milliseconds for the networking operations.
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ServerTimeOut=10000000000
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; In synchronous mode, CARLA waits every frame until the control from the client
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; is received.
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SynchronousMode=true
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; Send info about every non-player agent in the scene every frame, the
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; information is attached to the measurements message. This includes other
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; vehicles, pedestrians and traffic signs. Disabled by default to improve
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; performance.
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SendNonPlayerAgentsInfo=false
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[CARLA/LevelSettings]
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; Path of the vehicle class to be used for the player. Leave empty for default.
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; Paths follow the pattern "/Game/Blueprints/Vehicles/Mustang/Mustang.Mustang_C"
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PlayerVehicle=
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; Number of non-player vehicles to be spawned into the level.
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NumberOfVehicles=15
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; Number of non-player pedestrians to be spawned into the level.
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NumberOfPedestrians=30
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; Index of the weather/lighting presets to use. If negative, the default presets
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; of the map will be used.
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WeatherId=1
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; Seeds for the pseudo-random number generators.
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SeedVehicles=123456789
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SeedPedestrians=123456789
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[CARLA/SceneCapture]
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; Names of the cameras to be attached to the player, comma-separated, each of
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; them should be defined in its own subsection. E.g., Uncomment next line to add
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; a camera called MyCamera to the vehicle
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Cameras=CameraRGB
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; Now, every camera we added needs to be defined it in its own subsection.
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[CARLA/SceneCapture/CameraRGB]
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; Post-processing effect to be applied. Valid values:
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; * None No effects applied.
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; * SceneFinal Post-processing present at scene (bloom, fog, etc).
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; * Depth Depth map ground-truth only.
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; * SemanticSegmentation Semantic segmentation ground-truth only.
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PostProcessing=SceneFinal
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; Size of the captured image in pixels.
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ImageSizeX=360
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ImageSizeY=256
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; Camera (horizontal) field of view in degrees.
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CameraFOV=90
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; Position of the camera relative to the car in centimeters.
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CameraPositionX=200
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CameraPositionY=0
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CameraPositionZ=140
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; Rotation of the camera relative to the car in degrees.
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CameraRotationPitch=0
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CameraRotationRoll=0
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CameraRotationYaw=0
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