adapted encoder naming and fixed namespace for parameters

Arena-Rosnav · Jan 22, 2023 · 9bc3969 · 9bc3969
1 parent 7669886
commit 9bc3969
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Showing 18 changed files with 238 additions and 178 deletions.
diff --git a/agents/burger/hyperparameters.json b/agents/burger/hyperparameters.json
@@ -1,24 +1,25 @@
 {
-    "agent_name": "AGENT_24_2022_01_27__20_31",
-    "robot": "burger",
-    "actions_in_observationspace": true,	
-    "batch_size": 19200,
-    "gamma": 0.99,
-    "n_steps": 1200,
-    "ent_coef": 0.005,
-    "learning_rate": 0.0003,
-    "vf_coef": 0.22,
-    "max_grad_norm": 0.5,
-    "gae_lambda": 0.95,
-    "m_batch_size": 15,
-    "n_epochs": 3,
-    "clip_range": 0.22,
-    "train_max_steps_per_episode": 250,
-    "eval_max_steps_per_episode": 400,
-    "goal_radius": 0.25,
-    "reward_fnc": "rule_05",
-    "discrete_action_space": false,
-    "normalize": false,
-    "task_mode": "staged",
-    "curr_stage": 6
+  "agent_name": "AGENT_24_2022_01_27__20_31",
+  "robot": "burger",
+  "actions_in_observationspace": true,
+  "batch_size": 19200,
+  "gamma": 0.99,
+  "n_steps": 1200,
+  "ent_coef": 0.005,
+  "learning_rate": 0.0003,
+  "vf_coef": 0.22,
+  "max_grad_norm": 0.5,
+  "gae_lambda": 0.95,
+  "m_batch_size": 15,
+  "n_epochs": 3,
+  "clip_range": 0.22,
+  "train_max_steps_per_episode": 250,
+  "eval_max_steps_per_episode": 400,
+  "goal_radius": 0.25,
+  "reward_fnc": "rule_05",
+  "discrete_action_space": false,
+  "normalize": false,
+  "task_mode": "staged",
+  "curr_stage": 6,
+  "observation_space": ["laser_scan", "goal_in_robot_frame", "last_action"]
 }
diff --git a/agents/jackal/hyperparameters.json b/agents/jackal/hyperparameters.json
@@ -1,24 +1,25 @@
 {
-    "agent_name": "AGENT_24_2022_02_04__11_28",
-    "robot": "jackal",
-    "actions_in_observationspace": true,
-    "reward_fnc": "rule_05",
-    "discrete_action_space": false,
-    "normalize": false,
-    "task_mode": "staged",
-    "train_max_steps_per_episode": 150,
-    "eval_max_steps_per_episode": 200,
-    "goal_radius": 0.7,
-    "curr_stage": 11,
-    "batch_size": 19200,
-    "gamma": 0.99,
-    "n_steps": 1600,
-    "ent_coef": 0.005,
-    "learning_rate": 0.0003,
-    "vf_coef": 0.22,
-    "max_grad_norm": 0.5,
-    "gae_lambda": 0.95,
-    "m_batch_size": 15,
-    "n_epochs": 3,
-    "clip_range": 0.22
-}
+  "agent_name": "AGENT_24_2022_02_04__11_28",
+  "robot": "jackal",
+  "actions_in_observationspace": true,
+  "reward_fnc": "rule_05",
+  "discrete_action_space": false,
+  "normalize": false,
+  "task_mode": "staged",
+  "train_max_steps_per_episode": 150,
+  "eval_max_steps_per_episode": 200,
+  "goal_radius": 0.7,
+  "curr_stage": 11,
+  "batch_size": 19200,
+  "gamma": 0.99,
+  "n_steps": 1600,
+  "ent_coef": 0.005,
+  "learning_rate": 0.0003,
+  "vf_coef": 0.22,
+  "max_grad_norm": 0.5,
+  "gae_lambda": 0.95,
+  "m_batch_size": 15,
+  "n_epochs": 3,
+  "clip_range": 0.22,
+  "observation_space": ["laser_scan", "goal_in_robot_frame", "last_action"]
+}
diff --git a/agents/jackal_barn/best_model.zip b/agents/jackal_barn/best_model.zip
diff --git a/agents/jackal_barn/hyperparameters.json b/agents/jackal_barn/hyperparameters.json
diff --git a/agents/jackal_barn/hyperparameters.json.lock b/agents/jackal_barn/hyperparameters.json.lock
diff --git a/agents/jackal_marl/best_model.zip b/agents/jackal_marl/best_model.zip
diff --git a/agents/jackal_marl/hyperparameters.json b/agents/jackal_marl/hyperparameters.json
diff --git a/agents/ridgeback/hyperparameters.json b/agents/ridgeback/hyperparameters.json
@@ -1,23 +1,24 @@
 {
-    "agent_name": "AGENT_21_2021_12_27__00_06",
-    "robot": "ridgeback",
-    "batch_size": 19200,
-    "gamma": 0.99,
-    "n_steps": 19200,
-    "ent_coef": 0.005,
-    "learning_rate": 0.0003,
-    "vf_coef": 0.22,
-    "max_grad_norm": 0.5,
-    "gae_lambda": 0.95,
-    "m_batch_size": 15,
-    "n_epochs": 3,
-    "clip_range": 0.22,
-    "train_max_steps_per_episode": 150,
-    "eval_max_steps_per_episode": 250,
-    "goal_radius": 0.25,
-    "reward_fnc": "rule_03",
-    "discrete_action_space": false,
-    "normalize": false,
-    "task_mode": "staged",
-    "curr_stage": 9
-}
+  "agent_name": "AGENT_21_2021_12_27__00_06",
+  "robot": "ridgeback",
+  "batch_size": 19200,
+  "gamma": 0.99,
+  "n_steps": 19200,
+  "ent_coef": 0.005,
+  "learning_rate": 0.0003,
+  "vf_coef": 0.22,
+  "max_grad_norm": 0.5,
+  "gae_lambda": 0.95,
+  "m_batch_size": 15,
+  "n_epochs": 3,
+  "clip_range": 0.22,
+  "train_max_steps_per_episode": 150,
+  "eval_max_steps_per_episode": 250,
+  "goal_radius": 0.25,
+  "reward_fnc": "rule_03",
+  "discrete_action_space": false,
+  "normalize": false,
+  "task_mode": "staged",
+  "curr_stage": 9,
+  "observation_space": ["laser_scan", "goal_in_robot_frame", "last_action"]
+}
diff --git a/agents/ridgeback_marl/best_model.zip b/agents/ridgeback_marl/best_model.zip
diff --git a/agents/ridgeback_marl/hyperparameters.json b/agents/ridgeback_marl/hyperparameters.json
diff --git a/agents/rto_tlabs_marl/best_model.zip b/agents/rto_tlabs_marl/best_model.zip
diff --git a/agents/rto_tlabs_marl/hyperparameters.json b/agents/rto_tlabs_marl/hyperparameters.json
diff --git a/rosnav/model/feature_extractors.py b/rosnav/model/feature_extractors.py
@@ -32,6 +32,7 @@ def __init__(
         robot_model: str = None,
         features_dim: int = 128,
     ):
+
         self._l, self._rs = get_observation_space_from_file(robot_model)
         super(EXTRACTOR_1, self).__init__(observation_space, features_dim + self._rs)
 

diff --git a/...v_space_manager/robot_specific_encoder.py → ...v/rosnav_space_manager/default_encoder.py b/...v_space_manager/robot_specific_encoder.py → ...v/rosnav_space_manager/default_encoder.py
@@ -14,8 +14,8 @@
     Action space: X Vel, (Y Vel), Angular Vel
 
 """
-@BaseSpaceEncoderFactory.register("RobotSpecificEncoder")
-class RobotSpecificEncoder(BaseSpaceEncoder):
+@BaseSpaceEncoderFactory.register("DefaultEncoder")
+class DefaultEncoder(BaseSpaceEncoder):
     def __init__(self, *args):
         super().__init__(*args)