def make_target_env_with_baseline(
observation_scaling=1.0, # 10.0
ego_starting_distance=150.0):
return factored_gym.FactoredGym(
road.RoadProcess(ego_starting_distance=ego_starting_distance),
road.RoadObserver(observation_scaling),
road.RoadTerminator(time_limit=3 * 60), road.RoadGoalRewarder(), [])
def __init__(self, env_config):
observation_scaling = 1.0 # 10.0
ego_starting_distance = 600.0
super().__init__(
road.RoadProcess(ego_starting_distance=ego_starting_distance),
road.RoadObserver(observation_scaling),
road.RoadTerminator(time_limit=3 * 60), road.RoadRewarder(), [])
def __init__(self, env_config):
observation_scaling = 1.0 # 10.0
ego_starting_distance = 5.0
super().__init__(
road.RoadProcess(ego_starting_distance=ego_starting_distance),
road.RoadObserver(observation_scaling),
road.RoadTerminator(time_limit=5 * 60), road.RoadGoalRewarder(),
[factored_gym.ActionCenterer([.001, 5], [0, 0])])