![]() ![]() While in console mode only the bare minimum of the pygame environment is loaded (to use spritecollide).Īn environment in console mode cannot be rendered as human. The human mode initializes pygame and renders what the car is doing to the screen, There are two types of render mode available, The default parameters for the diamond are: sensor_array_params = 20 # number of rows/columns in the sensor sensor_array_params = 10 # spacing between the dots Render modes The default parameters for the lidar are: sensor_array_params = 7 # number of rays per side sensor_array_params = 15 # distance between sensors along a ray sensor_array_params = 20 # number of sensors along a ray sensor_array_params = 70 # angle to sweep left/right make ( "racer-v0", sensor_array_type = sat, sensor_array_params = sensor_array_params, ) The observation type can be set by passing it in the call to gym.make, and the default parameters can be overridden by passing a sensor_array_params dict: sat = "lidar" # default # sat = "diamond" racer_env = gym. diamond with shape (n, n): a square of sensors, with a corner on the car.lidar with shape (n): a lidar with n rays, each element indicates the first sensor out of the road. ![]() There are two types of observation possible: The reward is mainly related to the direction along the street, then multiplied by the speed of the car squared. The action space is a combination of two discrete action spaces: 1) accelerate: NOOP, UP, DOWN ![]()
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