def __init__(self):
self.serv_sender = ExperienceSender()
self.record = False
self.env = make_imitation_env(skip=3)
self.oracle = FGM()
#store observations for sender (sending off to server for training)
self.sender_buffer = deque(maxlen=100)
def __init__(self):
self.model = NVIDIA_ConvNet().to(device)
self.update_nn()
self.model.eval()
self.oracle = FGM()
self.serv_sender = ExperienceSender()
self.repbuf = f110_ReplayBuffer()
self.record = False
self.send = False
self.env = make_imitation_env()
def run_policy(self):
""" Uses self.oracle to run the policy onboard"""
env = make_imitation_env(skip=2)
obs_dict = env.reset()
self.sender_buffer.append(obs_dict)
while True:
action = self.get_action(obs_dict)
nobs_dict, reward, done, info = env.step(action)
if info.get("record"):
self.sender_buffer.append(nobs_dict)
obs_dict = nobs_dict
if done:
obs_dict = env.reset()
def main():
env = make_imitation_env(skip=2)
#env = f110Env()
obs = env.reset()
count = 0
while True:
random_action = {"angle":0.2, "speed":1.0}
obs, reward, done, info = env.step(random_action)
cv_img = obs["img"]
cv2.imshow('latestimg', cv_img)
cv2.waitKey(2)
count+=1
if done:
print("ISDONE")
obs = env.reset()
def run_policy(self):
""" Uses self.model to run the policy onboard & adds experiences to the replay buffer """
env = make_imitation_env(skip=3)
obs_dict = env.reset()
while True:
action = self.get_action(self.gymobs_to_inputdict(obs_dict))
next_obs_dict, reward, done, info = env.step(action)
if info.get("record"):
self.record = True
ret_dict = self.oracle.fix(obs_dict)
self.repbuf.add(ret_dict, action, reward, done)
else:
self.record = False
if info.get("buttons")[0]:
self.send = True
else:
self.send = False
obs_dict = next_obs_dict
if done:
obs_dict = env.reset()
def run_policy(self):
""" Uses self.model to run the policy onboard & adds experiences to the prioritized replay buffer """
env = make_imitation_env()
obs_dict = env.reset()
while True:
action = self.get_action(self.gymobs_to_inputdict(obs_dict))
next_obs_dict, reward, done, info = env.step(action)
if info.get("record"):
self.record = True
entry = self.get_repbuf_entry(obs_dict, action, next_obs_dict,
reward, done, info)
self.repbuf.add(*entry)
else:
self.record = False
if info.get("buttons")[0] == 1:
self.send = True
else:
self.send = False
obs_dict = next_obs_dict
if done:
obs_dict = env.reset()