LR_A = 1e-3 # learning rate for actor
LR_C = 1e-5 # learning rate for critic
GAMMA = 0.9 # reward discount
REPLACE_ITER_A = 1100
REPLACE_ITER_C = 1000
MEMORY_CAPACITY = 7000
BATCH_SIZE = 200
VAR_MIN = 0.01
RENDER = True
LOAD = True
MODE = ['easy', 'hard']
n_model = 0
#env = ArmEnv(mode=MODE[n_model])
mar = marker()
env = Env()
speek = speek()
STATE_DIM = env.state_dim
ACTION_DIM = env.action_dim
ACTION_BOUND = env.action_bound
# Parameters
parser = argparse.ArgumentParser()
parser.add_argument('--load', type=str, default= 'True',
help='Load checkpoints or not' )
parser.add_argument('--vrep', type=bool, default=True,
help='Use vrep or not' )
parser.add_argument('--target_x', type=float, default= 33,
help='target position_x' )
parser.add_argument('--target_y', type=float, default= 5.4,
from std_msgs.msg import Int32
from time import sleep
os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID"
os.environ["CUDA_VISIBLE_DEVICES"] = "0,3"
rospy.init_node('pub')
pub = rospy.Publisher('car', Int32, queue_size=20)
scores = []
print()
print("run")
print()
if __name__ == '__main__':
global_step = 0
agent = dqn(365, 5, 100000000, 0.001) # state size 365, output size 5
env = Env()
#r = rospy.Duration(1,0)
for e in range(1, 3000):
done = False
state = env.reset()
score = 0
print()
print("run")
print()
for t in range(1, 3000):
print()
print("run")
print()
action = agent.get_action(state)
pub.publish(action) # robot run
rospy.sleep(10.)
###global setting xscale = 'liner'#ACCEPT [integer 1 to 10 | 'liner'] example xscale = 10 #means xscale use log10 yscale = 'liner' ####solve data file1 workpath = r"F:\Users\JianyingLi\Desktop\S1P0.05E1" indexname = "eRHo" extname = ".dat" timeCoe = 10e-7 lengthCoe = 0.0003125 instance = Env() print instance.get_workingPath() fileReader = filereader(instance.get_fileList(workpath), workpath) fileReader.select_files(extname, indexname) fileReader.read_data() # print fileReader.data dp = DataProcess() x0,y0 = dp.data1D(fileReader.data, extname, indexname,timeCoe) ##################################################################### ####solve data file2 workpath = r"F:\Users\JianyingLi\Desktop\S1P0.05E0.4" indexname = "eRHo"