base architecture configurations
| 1 | import os |
| 2 | |
| 3 | class GlobalConfig: |
| 4 | """ base architecture configurations """ |
| 5 | # Data |
| 6 | seq_len = 1 # input timesteps |
| 7 | pred_len = 4 # future waypoints predicted |
| 8 | |
| 9 | # data root |
| 10 | root_dir_all = "tcp_carla_data" |
| 11 | |
| 12 | train_towns = ['town01', 'town03', 'town04', 'town06', ] |
| 13 | val_towns = ['town02', 'town05', 'town07', 'town10'] |
| 14 | train_data, val_data = [], [] |
| 15 | for town in train_towns: |
| 16 | train_data.append(os.path.join(root_dir_all, town)) |
| 17 | train_data.append(os.path.join(root_dir_all, town+'_addition')) |
| 18 | for town in val_towns: |
| 19 | val_data.append(os.path.join(root_dir_all, town+'_val')) |
| 20 | |
| 21 | ignore_sides = True # don't consider side cameras |
| 22 | ignore_rear = True # don't consider rear cameras |
| 23 | |
| 24 | input_resolution = 256 |
| 25 | |
| 26 | scale = 1 # image pre-processing |
| 27 | crop = 256 # image pre-processing |
| 28 | |
| 29 | lr = 1e-4 # learning rate |
| 30 | |
| 31 | # Controller |
| 32 | turn_KP = 0.75 |
| 33 | turn_KI = 0.75 |
| 34 | turn_KD = 0.3 |
| 35 | turn_n = 40 # buffer size |
| 36 | |
| 37 | speed_KP = 5.0 |
| 38 | speed_KI = 0.5 |
| 39 | speed_KD = 1.0 |
| 40 | speed_n = 40 # buffer size |
| 41 | |
| 42 | max_throttle = 0.75 # upper limit on throttle signal value in dataset |
| 43 | brake_speed = 0.4 # desired speed below which brake is triggered |
| 44 | brake_ratio = 1.1 # ratio of speed to desired speed at which brake is triggered |
| 45 | clip_delta = 0.25 # maximum change in speed input to logitudinal controller |
| 46 | |
| 47 | |
| 48 | aim_dist = 4.0 # distance to search around for aim point |
| 49 | angle_thresh = 0.3 # outlier control detection angle |
| 50 | dist_thresh = 10 # target point y-distance for outlier filtering |
| 51 | |
| 52 | |
| 53 | speed_weight = 0.05 |
| 54 | value_weight = 0.001 |
| 55 | features_weight = 0.05 |
| 56 | |
| 57 | rl_ckpt = "roach/log/ckpt_11833344.pth" |
| 58 | |
| 59 | img_aug = True |
| 60 |