Update
Browse files- CaRL/config.json +570 -0
- CaRL/model_best.pth +3 -0
CaRL/config.json
ADDED
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@@ -0,0 +1,570 @@
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| 1 |
+
{
|
| 2 |
+
"action_repeat": 1,
|
| 3 |
+
"action_space_dim": 2,
|
| 4 |
+
"action_space_max": 1.0,
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| 5 |
+
"action_space_min": -1.0,
|
| 6 |
+
"adam_eps": 1e-05,
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| 7 |
+
"allow_tf32": false,
|
| 8 |
+
"benchmark": false,
|
| 9 |
+
"best_iteration": 4464,
|
| 10 |
+
"beta_1": 0.9,
|
| 11 |
+
"beta_2": 0.999,
|
| 12 |
+
"beta_min_a_b_value": 1.0,
|
| 13 |
+
"bev_classes_list": {
|
| 14 |
+
"py/tuple": [
|
| 15 |
+
{
|
| 16 |
+
"py/tuple": [
|
| 17 |
+
0,
|
| 18 |
+
0,
|
| 19 |
+
0
|
| 20 |
+
]
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"py/tuple": [
|
| 24 |
+
150,
|
| 25 |
+
150,
|
| 26 |
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150
|
| 27 |
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]
|
| 28 |
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},
|
| 29 |
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{
|
| 30 |
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"py/tuple": [
|
| 31 |
+
255,
|
| 32 |
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255,
|
| 33 |
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255
|
| 34 |
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]
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
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"py/tuple": [
|
| 38 |
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255,
|
| 39 |
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255,
|
| 40 |
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0
|
| 41 |
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]
|
| 42 |
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},
|
| 43 |
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{
|
| 44 |
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"py/tuple": [
|
| 45 |
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0,
|
| 46 |
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0,
|
| 47 |
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255
|
| 48 |
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]
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"py/tuple": [
|
| 52 |
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0,
|
| 53 |
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255,
|
| 54 |
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255
|
| 55 |
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]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"py/tuple": [
|
| 59 |
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255,
|
| 60 |
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255,
|
| 61 |
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0
|
| 62 |
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]
|
| 63 |
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},
|
| 64 |
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{
|
| 65 |
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"py/tuple": [
|
| 66 |
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160,
|
| 67 |
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160,
|
| 68 |
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0
|
| 69 |
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]
|
| 70 |
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},
|
| 71 |
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{
|
| 72 |
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"py/tuple": [
|
| 73 |
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0,
|
| 74 |
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255,
|
| 75 |
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0
|
| 76 |
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]
|
| 77 |
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}
|
| 78 |
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]
|
| 79 |
+
},
|
| 80 |
+
"bev_semantics_height": 256,
|
| 81 |
+
"bev_semantics_width": 256,
|
| 82 |
+
"capture_video": false,
|
| 83 |
+
"clip_coef": 0.1,
|
| 84 |
+
"clip_vloss": true,
|
| 85 |
+
"comfort_penalty_factor": 0.5,
|
| 86 |
+
"comfort_penalty_ticks": 500,
|
| 87 |
+
"compile_model": false,
|
| 88 |
+
"condition_outside_junction": false,
|
| 89 |
+
"consider_tl": true,
|
| 90 |
+
"cpu_collect": false,
|
| 91 |
+
"cuda": true,
|
| 92 |
+
"current_eval_interval_idx": 9,
|
| 93 |
+
"current_learning_rate": 1.0924186148131287e-07,
|
| 94 |
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"dd_ppo_min_perc": 0.25,
|
| 95 |
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"dd_ppo_preempt_threshold": 0.6,
|
| 96 |
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"debug": false,
|
| 97 |
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"distribution": "beta",
|
| 98 |
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"ego_extent_x": 2.44619083404541,
|
| 99 |
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"ego_extent_y": 0.9183566570281982,
|
| 100 |
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"ego_extent_z": 0.7451388239860535,
|
| 101 |
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"ego_forecast_min_speed": 2.5,
|
| 102 |
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"ego_forecast_time": 1.0,
|
| 103 |
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"ent_coef": 0.01,
|
| 104 |
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"eval_intervals": {
|
| 105 |
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"py/tuple": [
|
| 106 |
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0.1,
|
| 107 |
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0.2,
|
| 108 |
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0.3,
|
| 109 |
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0.4,
|
| 110 |
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0.5,
|
| 111 |
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0.6,
|
| 112 |
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0.7,
|
| 113 |
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0.8,
|
| 114 |
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0.9
|
| 115 |
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]
|
| 116 |
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},
|
| 117 |
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"eval_time": 1200.0,
|
| 118 |
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"exp_name": "CaRL_1_1_003_01",
|
| 119 |
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"expl_coef": 0.05,
|
| 120 |
+
"features_dim": 256,
|
| 121 |
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"frame_rate": 10.0,
|
| 122 |
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"gae": true,
|
| 123 |
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"gae_lambda": 0.95,
|
| 124 |
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"gamma": 0.99,
|
| 125 |
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"global_step": 300154880,
|
| 126 |
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"gpu_ids": [
|
| 127 |
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0,
|
| 128 |
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1,
|
| 129 |
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2,
|
| 130 |
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3,
|
| 131 |
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4,
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| 132 |
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6,
|
| 133 |
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7,
|
| 134 |
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8
|
| 135 |
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],
|
| 136 |
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"green_wave_prob": 0.05,
|
| 137 |
+
"gym_id": "CARLAEnv-v0",
|
| 138 |
+
"history_idx": [
|
| 139 |
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-16,
|
| 140 |
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-11,
|
| 141 |
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-6,
|
| 142 |
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-1
|
| 143 |
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],
|
| 144 |
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"history_idx_2": [
|
| 145 |
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-16,
|
| 146 |
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-11,
|
| 147 |
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-6
|
| 148 |
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],
|
| 149 |
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"hl_gauss_bucket_size": 1.0,
|
| 150 |
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"hl_gauss_num_classes": 41,
|
| 151 |
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"hl_gauss_std": 0.75,
|
| 152 |
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"hl_gauss_vmax": 30.0,
|
| 153 |
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"hl_gauss_vmin": -10.0,
|
| 154 |
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"image_encoder": "roach_ln2",
|
| 155 |
+
"kl_early_stop": 0,
|
| 156 |
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"lane_dist_penalty_softener": 1.0,
|
| 157 |
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"lane_distance_violation_threshold": 0.0,
|
| 158 |
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"latest_iteration": 4576,
|
| 159 |
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"learning_rate": 0.00025,
|
| 160 |
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"light_radius": 15.0,
|
| 161 |
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|
CaRL/model_best.pth
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 7959522
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