def train_cth_ref(): agent_name = "ModRefCth_" + map_name + train_name config = load_config(config_rt) vehicle = ModVehicleTrain(config, agent_name) reward = r.RefCTHReward(config, 0.4, 0.04) TrainVehicle(config, agent_name, vehicle, reward, n_train_itterations, 'track')
def train_distance_center(): agent_name = "ModCenterDis_" + map_name + train_name config = load_config(config_rt) vehicle = ModVehicleTrain(config, agent_name) reward = r.CenterDistanceReward(config, 0.02) TrainVehicle(config, agent_name, vehicle, reward, n_train_itterations, 'track')
def train_mod_steer(): agent_name = "ModSteer_" + map_name + train_name config = load_config(config_rt) vehicle = ModVehicleTrain(config, agent_name, load=False) reward = r.TrackSteerReward(config, 0, 0.005) TrainVehicle(config, agent_name, vehicle, reward, n_train_itterations, 'track', show=False)
def train_mod_emp(): agent_name = "ModEmp_" + map_name + train_name config = load_config(config_rt) vehicle = ModVehicleTrain(config, agent_name, load=False) reward = r.EmptyR() TrainVehicle(config, agent_name, vehicle, reward, n_train_itterations, 'track', show=False)
def FullTest(): config = load_config(config_rt) test = TestVehicles(config, test_name, 'track') # 1) no racing reward agent_name = "ModEmp_" + env_name + train_name vehicle = ModVehicleTest(config, agent_name) test.add_vehicle(vehicle) # 3) Distance Centerline agent_name = "ModCenterDis_" + env_name + train_name vehicle = ModVehicleTest(config, agent_name) test.add_vehicle(vehicle) # 6) distance ref agent_name = "ModRefDis_" + env_name + train_name vehicle = ModVehicleTest(config, agent_name) test.add_vehicle(vehicle) # 4) CTH center agent_name = "ModCenterCth_" + env_name + train_name vehicle = ModVehicleTest(config, agent_name) test.add_vehicle(vehicle) # 7) CTH ref agent_name = "ModRefCth_" + env_name + train_name vehicle = ModVehicleTest(config, agent_name) test.add_vehicle(vehicle) # 8) Steering and Velocity agent_name = "ModSteer_" + env_name + train_name vehicle = ModVehicleTest(config, agent_name) test.add_vehicle(vehicle) # PP vehicle = PurePursuit(config) test.add_vehicle(vehicle) # FTG vehicle = FollowTheGap(config) test.add_vehicle(vehicle) # test.run_eval(1, False, add_obs=False, save=False) test.eval_name += "_Obs" test.run_eval(100, False, add_obs=True, save=False)