def train_cth_ref():
agent_name = "ModRefCth_" + map_name + train_name
config = load_config(config_rt)
vehicle = ModVehicleTrain(config, agent_name)
reward = r.RefCTHReward(config, 0.4, 0.04)
TrainVehicle(config, agent_name, vehicle, reward, n_train_itterations,
'track')
def train_distance_center():
agent_name = "ModCenterDis_" + map_name + train_name
config = load_config(config_rt)
vehicle = ModVehicleTrain(config, agent_name)
reward = r.CenterDistanceReward(config, 0.02)
TrainVehicle(config, agent_name, vehicle, reward, n_train_itterations,
'track')
def train_mod_steer():
agent_name = "ModSteer_" + map_name + train_name
config = load_config(config_rt)
vehicle = ModVehicleTrain(config, agent_name, load=False)
reward = r.TrackSteerReward(config, 0, 0.005)
TrainVehicle(config,
agent_name,
vehicle,
reward,
n_train_itterations,
'track',
show=False)
def train_mod_emp():
agent_name = "ModEmp_" + map_name + train_name
config = load_config(config_rt)
vehicle = ModVehicleTrain(config, agent_name, load=False)
reward = r.EmptyR()
TrainVehicle(config,
agent_name,
vehicle,
reward,
n_train_itterations,
'track',
show=False)
def FullTest():
config = load_config(config_rt)
test = TestVehicles(config, test_name, 'track')
# 1) no racing reward
agent_name = "ModEmp_" + env_name + train_name
vehicle = ModVehicleTest(config, agent_name)
test.add_vehicle(vehicle)
# 3) Distance Centerline
agent_name = "ModCenterDis_" + env_name + train_name
vehicle = ModVehicleTest(config, agent_name)
test.add_vehicle(vehicle)
# 6) distance ref
agent_name = "ModRefDis_" + env_name + train_name
vehicle = ModVehicleTest(config, agent_name)
test.add_vehicle(vehicle)
# 4) CTH center
agent_name = "ModCenterCth_" + env_name + train_name
vehicle = ModVehicleTest(config, agent_name)
test.add_vehicle(vehicle)
# 7) CTH ref
agent_name = "ModRefCth_" + env_name + train_name
vehicle = ModVehicleTest(config, agent_name)
test.add_vehicle(vehicle)
# 8) Steering and Velocity
agent_name = "ModSteer_" + env_name + train_name
vehicle = ModVehicleTest(config, agent_name)
test.add_vehicle(vehicle)
# PP
vehicle = PurePursuit(config)
test.add_vehicle(vehicle)
# FTG
vehicle = FollowTheGap(config)
test.add_vehicle(vehicle)
# test.run_eval(1, False, add_obs=False, save=False)
test.eval_name += "_Obs"
test.run_eval(100, False, add_obs=True, save=False)