def __init__(self, debug=False):
super(PolicyConfig, self).__init__(debug)
self.name = 'rgl_ppo'
# gcn
self.gcn.num_layer = 2
self.gcn.X_dim = 32
self.gcn.similarity_function = 'embedded_gaussian'
self.gcn.layerwise_graph = False
self.gcn.skip_connection = True
self.rgl_ppo = Config()
self.rgl_ppo.motion_predictor_dims = [64, 5]
self.rgl_ppo.value_network_dims = [32, 100, 100, 1]
def __init__(self, debug=False):
super(PolicyConfig, self).__init__(debug)
self.name = "model_predictive_rl"
# gcn
self.gcn.num_layer = 2
self.gcn.X_dim = 32
self.gcn.similarity_function = "embedded_gaussian"
self.gcn.layerwise_graph = False
self.gcn.skip_connection = True
self.model_predictive_rl = Config()
self.model_predictive_rl.linear_state_predictor = False
self.model_predictive_rl.planning_depth = 1
self.model_predictive_rl.planning_width = 1
self.model_predictive_rl.do_action_clip = False
self.model_predictive_rl.motion_predictor_dims = [64, 5]
self.model_predictive_rl.value_network_dims = [32, 100, 100, 1]
self.model_predictive_rl.share_graph_model = False