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45 lines
2.1 KiB
Python
45 lines
2.1 KiB
Python
import math
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from rl_coach.agents.ddqn_agent import DDQNAgentParameters
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from rl_coach.architectures.tensorflow_components.heads.dueling_q_head import DuelingQHeadParameters
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from rl_coach.base_parameters import VisualizationParameters, MiddlewareScheme
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from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
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from rl_coach.environments.carla_environment import CarlaEnvironmentParameters
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from rl_coach.filters.action.box_discretization import BoxDiscretization
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from rl_coach.filters.filter import OutputFilter
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from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
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from rl_coach.graph_managers.graph_manager import ScheduleParameters
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####################
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# Graph Scheduling #
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####################
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schedule_params = ScheduleParameters()
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schedule_params.improve_steps = TrainingSteps(10000000000)
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schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes(20)
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schedule_params.evaluation_steps = EnvironmentEpisodes(1)
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schedule_params.heatup_steps = EnvironmentSteps(1000)
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#########
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# Agent #
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#########
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agent_params = DDQNAgentParameters()
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agent_params.network_wrappers['main'].learning_rate = 0.00025
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agent_params.network_wrappers['main'].heads_parameters = \
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[DuelingQHeadParameters(rescale_gradient_from_head_by_factor=1/math.sqrt(2))]
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agent_params.network_wrappers['main'].middleware_parameters.scheme = MiddlewareScheme.Empty
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agent_params.network_wrappers['main'].clip_gradients = 10
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agent_params.algorithm.num_consecutive_playing_steps = EnvironmentSteps(4)
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agent_params.network_wrappers['main'].input_embedders_parameters['forward_camera'] = \
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agent_params.network_wrappers['main'].input_embedders_parameters.pop('observation')
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agent_params.output_filter = OutputFilter()
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agent_params.output_filter.add_action_filter('discretization', BoxDiscretization(5))
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###############
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# Environment #
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###############
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env_params = CarlaEnvironmentParameters()
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graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
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schedule_params=schedule_params, vis_params=VisualizationParameters())
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