def run_follow_the_gap_forest():
sim_conf = lib.load_conf("fgm_config")
env = ForestSim(map_name_forest, sim_conf)
vehicle = ForestFGM()
# test_single_vehicle(env, vehicle, True, 10, False, vis=True)
test_single_vehicle(env, vehicle, False, 100, add_obs=True)
def train_mod():
env = ForestSim(map_name)
vehicle = ModVehicleTrain(mod_name,
map_name,
env.sim_conf,
load=False,
h_size=200)
train_vehicle(env, vehicle, 1000)
def test_repeat():
env = ForestSim(map_name)
test = TestVehicles(env.sim_conf, repeat_name)
for i in range(10):
train_name = f"ModRepeat_forest_{i}"
vehicle = ModVehicleTest(train_name, map_name, env.sim_conf)
test.add_vehicle(vehicle)
# test.run_eval(env, 1000, False)
test.run_eval(env, n_test, False)
def train_repeatability():
env = ForestSim(map_name_f)
for i in range(10):
train_name = f"ModRepeat_forest_{i}"
vehicle = ModVehicleTrain(train_name,
map_name_f,
env.sim_conf,
load=False)
train_vehicle(env, vehicle, 100)
def big_test():
env = ForestSim(map_name)
test = TestVehicles(env.sim_conf, eval_name)
vehicle = NavTestVehicle(nav_name, env.sim_conf)
test.add_vehicle(vehicle)
vehicle = ForestFGM()
test.add_vehicle(vehicle)
vehicle = Oracle(env.sim_conf)
test.add_vehicle(vehicle)
vehicle = ModVehicleTest(mod_name, map_name, env.sim_conf)
test.add_vehicle(vehicle)
# test.run_eval(env, 1, True)
test.run_eval(env, n_test, False, wait=False)
def test_mod_forest():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_f, sim_conf)
vehicle = ModVehicleTest(mod_name_f, map_name_f, sim_conf)
test_single_vehicle(env, vehicle, True, 100, wait=False)
def train_nav_f():
env = ForestSim(map_name_f)
vehicle = NavTrainVehicle(nav_name_f, env.sim_conf, h_size=200)
train_vehicle(env, vehicle, 1000)
def test_nav_forest():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_forest, sim_conf)
vehicle = NavTestVehicle(nav_name_f, sim_conf)
test_single_vehicle(env, vehicle, True, 100, wait=False)
def train_nav_forest():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_forest, sim_conf)
vehicle = NavTrainVehicle(nav_name_f, sim_conf, h_size=200)
train_vehicle(env, vehicle, 1000)
def run_oracle_forest():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_forest, sim_conf)
vehicle = Oracle(sim_conf)
test_single_vehicle(env, vehicle, True, 100, True, wait=False)
def train_mod_f():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_f, sim_conf)
vehicle = ModVehicleTrain(mod_name_f, map_name_f, sim_conf, load=False, h_size=200)
train_vehicle(env, vehicle, 1000)
def test_follow_the_gap():
sim_conf = load_conf("", "fgm_config")
env = ForestSim(map_name, sim_conf)
vehicle = ForestFGM()
test_single_vehicle(env, vehicle, True, test_n, add_obs=True, vis=False)
def test_nav():
env = ForestSim(map_name)
vehicle = NavTestVehicle(nav_name, env.sim_conf)
test_single_vehicle(env, vehicle, True, test_n, wait=False)
def test_mod():
env = ForestSim(map_name)
vehicle = ModVehicleTest(mod_name, map_name, env.sim_conf)
test_single_vehicle(env, vehicle, True, test_n, wait=False, vis=False)
def test_oracle():
env = ForestSim(map_name)
vehicle = Oracle(env.sim_conf)
test_single_vehicle(env, vehicle, True, test_n, True, wait=False)
