__author__ = 'manuelli' from simulator import Simulator sim = Simulator(autoInitialize=False, verbose=False) sim.Sarsa_numInnerBins = 4 sim.Sarsa_numOuterBins = 4 sim.Sensor_rayLength = 10 sim.randomSeed = 8 sim.randomizeControl = True sim.percentObsDensity = 4 sim.nonRandomWorld = True sim.circleRadius = 2.5 sim.worldScale = 1 sim.defaultControllerTime = 300 sim.initialize() sim.run()
# sim.options['Reward']['collisionPenalty'] = 200 sim.options['Car']['velocity'] = 16 sim.options['World']['obstaclesInnerFraction'] = 0.85 sim.options['dt'] = 0.05 # setup the training time sim.supervisedTrainingTime = 0 sim.learningRandomTime = 5000 sim.learningEvalTime = 1000 sim.defaultControllerTime = 1000 sim.options['SARSA']['burnInTime'] = sim.learningRandomTime/2.0 # World Setup sim.randomSeed = 40 sim.randomizeControl = True sim.percentObsDensity = 7.5 sim.nonRandomWorld = True sim.circleRadius = 1.75 sim.worldScale = 1
# sim.circleRadius = 2.5 # sim.worldScale = 1 # # big dense # sim.randomSeed = 12 # sim.randomizeControl = True # sim.percentObsDensity = 7 # sim.nonRandomWorld = True # sim.circleRadius = 1.5 # sim.worldScale = 1 sim.supervisedTrainingTime = 3000 sim.learningRandomTime = 4000 sim.learningEvalTime = 500 sim.defaultControllerTime = 500 sim.options['SARSA']['epsilonGreedy'] = 0.4 sim.options['SARSA']['burnInTime'] = sim.supervisedTrainingTime/1.5 sim.options['Reward']['actionCost'] = 0.4 sim.options['Reward']['raycastCost'] = 40.0 # sim.options['Reward']['collisionPenalty'] = 200 sim.randomSeed = 8 sim.randomizeControl = True sim.percentObsDensity = 5 sim.nonRandomWorld = True sim.circleRadius = 2.5 sim.worldScale = 1
