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Commit e2dc57dd authored by Armin Co's avatar Armin Co
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Added new environment options

parent 8e575e06
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......@@ -247,15 +247,23 @@ class World:
carla.Rotation(pitch=0.000000, yaw=-175.922913, roll=-6.221135))
pos_diff = math.sqrt((target.location.x - x)**2 + (target.location.y - y)**2)
rot_diff = ((target.rotation.yaw / 180) - yaw)
v = math.sqrt((vx)**2 + (vy)**2)
r = -0.1
r += -0.01 * pos_diff
done = False
LEARN_FINAL_ORIENTATION = False
if LEARN_FINAL_ORIENTATION:
target_yaw = (-175.922913) / 180
yaw_dif = math.sqrt((target_yaw**2) - (yaw**2))
r += -0.01 * yaw_dif
INSENTIVE_MOVING = False
if v < 0.01 and INSENTIVE_MOVING:
r -= 0.02
done = False
if pos_diff < 1.5:
done = True
r += 100
......
......@@ -22,6 +22,7 @@ class Config:
learn_rate= 0.001
learn_iterations = 1
run_episodes = 20
offline_batchsize = 2048
offline_epochs = 1000
offline_validate_every_x_iteration = 10
load_ann = False
......
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