def _init():
set_global_seeds(seed)
env = DonkeyVAEEnv(level=LEVEL,
frame_skip=frame_skip,
vae=vae,
const_throttle=None,
min_throttle=MIN_THROTTLE,
max_throttle=MAX_THROTTLE,
max_cte_error=MAX_CTE_ERROR,
n_command_history=N_COMMAND_HISTORY,
n_stack=n_stack)
env.seed(seed)
if not teleop:
env = Monitor(env, log_dir, allow_early_resets=True)
return env
log_path)
assert os.path.isfile(
model_path), "No model found for {} on {}, path: {}".format(
algo, ENV_ID, model_path)
model = ALGOS[algo].load(model_path)
if args.vae_path != '':
print("Loading VAE ...")
vae = load_vae(args.vae_path)
if vae is None:
N_COMMAND_HISTORY = 0
env = DonkeyVAEEnv(level=LEVEL,
frame_skip=TEST_FRAME_SKIP,
vae=vae,
const_throttle=None,
min_throttle=MIN_THROTTLE,
max_throttle=MAX_THROTTLE,
max_cte_error=10,
n_command_history=N_COMMAND_HISTORY)
env = Recorder(env, folder=args.record_folder, verbose=1)
try:
env = TeleopEnv(env, model=model)
env.wait()
except KeyboardInterrupt as e:
pass
finally:
env.exit()
time.sleep(0.5)