from __future__ import absolute_import from __future__ import division from __future__ import print_function import ray from ray.tune import register_env, run_experiments from env import CarlaEnv, ENV_CONFIG from models import register_carla_model from scenarios import LANE_KEEP env_name = "carla_env" env_config = ENV_CONFIG.copy() env_config.update({ "verbose": False, "x_res": 80, "y_res": 80, "use_depth_camera": False, "discrete_actions": True, "server_map": "/Game/Maps/Town02", "reward_function": "lane_keep", "enable_planner": False, "scenarios": [LANE_KEEP], }) register_env(env_name, lambda env_config: CarlaEnv(env_config)) register_carla_model() ray.init() run_experiments({ "carla-dqn": { "run": "DQN", "env": "carla_env", "trial_resources": {"cpu": 4, "gpu": 1}, "config": { "env_config": env_config, "model": { "custom_model": "carla", "custom_options": { "image_shape": [80, 80, 6], }, "conv_filters": [ [16, [8, 8], 4], [32, [4, 4], 2], [512, [10, 10], 1], ], }, "timesteps_per_iteration": 100, "learning_starts": 1000, "schedule_max_timesteps": 100000, "gamma": 0.8, "tf_session_args": { "gpu_options": {"allow_growth": True}, }, }, }, })