Parameters Setting
=======================
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Environment Parameters
-----------------------------
The parameters located :code:`Webots_Simulation/traffic_project/config/env_config.json` file
citystreet
~~~~~~~~~~~~~~~
.. code:: json
{
"Simulation_Mode": "train",
"Tracker_Def": "DRONE",
"Drone_Supervisor_Ctrl": true,
"Socket_Ip": "127.0.0.1",
"Config_Agen_Num_Port": 35531,
"Train_Total_Steps": 1500,
"Init_No_Done_Steps": 100,
"No_Reward_Done_Steps": 100,
"Control_Frequence": 125,
"Customized_Rewards": true,
"Lidar_Enable": false,
"Tracking_Object": "SUMO_VEHICLE",
"Verbose": false,
"Done_Range": {
"max_height": 50,
"min_height": 2,
"velocity": 10000,
"omiga": 6.283,
"roll": 1.22,
"pitch": 1.22,
"distance_error": 50
},
"Reward_Config": {
"reward_type": "view",
"reward_mode": "continuous",
"reward_cut_off": 0.001,
"distance_scale": 0.01,
"distance_range": 7,
"view_scale": 4,
"view_range": 0.7
},
"Sumo_Params": {
"rou_update": true,
"max_sumo_car": 40,
"fixed_car_group_num": false,
"car_group_num": 10,
"car_import_interval": 52.0,
"car_type": "passenger",
"fixed_color": false,
"normalize_color": [
1,
0,
0
],
"max_car_speed": 20,
"max_car_accel": 25,
"max_car_decel": 25,
"max_rou_distance": 7000,
"min_rou_distance": 500,
"route_num": 100000,
"fixed_seed": false,
"random_seed": 1
},
"Other_Params": {
"max_obj_num": 10,
"obj_import_interval": 0.5,
"import_group_num": 4,
"obj_edge_distribution_random": false,
"obj_edge_distribution_multilateral": false,
"obj_edge_distribution_fixed": 0,
"obj_edge_distribution_max": 10,
"obj_edge_distribution_min": -10
},
"Out_Video": {
"channels": 4,
"fps": 50.0,
"start_time": 1.5,
"total_time": 50.0,
"warm_up_steps": 50,
"output_car_dir": false,
"random_action": false,
"forward_speed": 40,
"backward_speed": -40,
"left_speed": 40,
"right_speed": -40,
"cw_omega": 2,
"ccw_omega": -2
},
"Drone_Random_Config": {
"start_time_bias_ms": 510,
"view_pitch_random": true,
"view_pitch_fixed": 1.37,
"view_pitch_random_max": 1.38,
"view_pitch_random_min": 0.6,
"height_random": true,
"height_fixed": 22,
"height_random_max": 22.0,
"height_random_min": 13.0,
"direction_random": true,
"direction_random_multilateral": false,
"direction_fixed": 1.57,
"direction_random_max": 3.1415926535,
"direction_random_min": -3.1415926535,
"horizon_bias_random": true,
"horizon_bias_multilateral": true,
"horizon_bias_fixed": 0,
"horizon_bias_random_max": 4.5,
"horizon_bias_random_min": 2.5,
"verticle_bias_random": true,
"verticle_bias_multilateral": true,
"verticle_bias_fixed": 0,
"verticle_bias_random_max": 4.5,
"verticle_bias_random_min": 2.5
}
}
farmland
~~~~~~~~~~~~~~~
.. code:: json
{
"Simulation_Mode": "train",
"Tracker_Def": "DRONE",
"Drone_Supervisor_Ctrl": true,
"Socket_Ip": "127.0.0.1",
"Config_Agen_Num_Port": 35531,
"Train_Total_Steps": 1500,
"Init_No_Done_Steps": 100,
"No_Reward_Done_Steps": 100,
"Control_Frequence": 125,
"Customized_Rewards": true,
"Lidar_Enable": false,
"Tracking_Object": "SUMO_VEHICLE",
"Verbose": false,
"Done_Range": {
"max_height": 50,
"min_height": 2,
"velocity": 10000,
"omiga": 6.283,
"roll": 1.22,
"pitch": 1.22,
"distance_error": 50
},
"Reward_Config": {
"reward_type": "view",
"reward_mode": "continuous",
"reward_cut_off": 0.001,
"distance_scale": 0.01,
"distance_range": 7,
"view_scale": 4,
"view_range": 0.7
},
"Sumo_Params": {
"rou_update": true,
"max_sumo_car": 40,
"fixed_car_group_num": false,
"car_group_num": 10,
"car_import_interval": 52.0,
"car_type": "passenger",
"fixed_color": false,
"normalize_color": [
1,
0,
0
],
"max_car_speed": 20,
"max_car_accel": 25,
"max_car_decel": 25,
"max_rou_distance": 7000,
"min_rou_distance": 500,
"route_num": 100000,
"fixed_seed": false,
"random_seed": 1
},
"Other_Params": {
"max_obj_num": 10,
"obj_import_interval": 0.5,
"import_group_num": 4,
"obj_edge_distribution_random": false,
"obj_edge_distribution_multilateral": false,
"obj_edge_distribution_fixed": 0,
"obj_edge_distribution_max": 10,
"obj_edge_distribution_min": -10
},
"Out_Video": {
"channels": 4,
"fps": 50.0,
"start_time": 1.5,
"total_time": 50.0,
"warm_up_steps": 50,
"output_car_dir": false,
"random_action": false,
"forward_speed": 40,
"backward_speed": -40,
"left_speed": 40,
"right_speed": -40,
"cw_omega": 2,
"ccw_omega": -2
},
"Drone_Random_Config": {
"start_time_bias_ms": 510,
"view_pitch_random": true,
"view_pitch_fixed": 1.37,
"view_pitch_random_max": 1.38,
"view_pitch_random_min": 0.6,
"height_random": true,
"height_fixed": 22,
"height_random_max": 22.0,
"height_random_min": 13.0,
"direction_random": true,
"direction_random_multilateral": false,
"direction_fixed": 1.57,
"direction_random_max": 3.1415926535,
"direction_random_min": -3.1415926535,
"horizon_bias_random": true,
"horizon_bias_multilateral": true,
"horizon_bias_fixed": 0,
"horizon_bias_random_max": 4.5,
"horizon_bias_random_min": 2.5,
"verticle_bias_random": true,
"verticle_bias_multilateral": true,
"verticle_bias_fixed": 0,
"verticle_bias_random_max": 4.5,
"verticle_bias_random_min": 2.5
}
}
downtown
~~~~~~~~~~~~~~~
.. code:: json
{
"Simulation_Mode": "train",
"Tracker_Def": "DRONE",
"Drone_Supervisor_Ctrl": true,
"Socket_Ip": "127.0.0.1",
"Config_Agen_Num_Port": 35531,
"Train_Total_Steps": 1500,
"Init_No_Done_Steps": 100,
"No_Reward_Done_Steps": 100,
"Control_Frequence": 125,
"Customized_Rewards": true,
"Lidar_Enable": false,
"Tracking_Object": "SUMO_VEHICLE",
"Verbose": false,
"Done_Range": {
"max_height": 50,
"min_height": 2,
"velocity": 10000,
"omiga": 6.283,
"roll": 1.22,
"pitch": 1.22,
"distance_error": 50
},
"Reward_Config": {
"reward_type": "view",
"reward_mode": "continuous",
"reward_cut_off": 0.001,
"distance_scale": 0.01,
"distance_range": 7,
"view_scale": 4,
"view_range": 0.7
},
"Sumo_Params": {
"rou_update": true,
"max_sumo_car": 40,
"fixed_car_group_num": false,
"car_group_num": 10,
"car_import_interval": 52.0,
"car_type": "passenger",
"fixed_color": false,
"normalize_color": [
1,
0,
0
],
"max_car_speed": 20,
"max_car_accel": 25,
"max_car_decel": 25,
"max_rou_distance": 7000,
"min_rou_distance": 500,
"route_num": 100000,
"fixed_seed": false,
"random_seed": 1
},
"Other_Params": {
"max_obj_num": 10,
"obj_import_interval": 0.5,
"import_group_num": 4,
"obj_edge_distribution_random": false,
"obj_edge_distribution_multilateral": false,
"obj_edge_distribution_fixed": 0,
"obj_edge_distribution_max": 10,
"obj_edge_distribution_min": -10
},
"Out_Video": {
"channels": 4,
"fps": 50.0,
"start_time": 1.5,
"total_time": 50.0,
"warm_up_steps": 50,
"output_car_dir": false,
"random_action": false,
"forward_speed": 40,
"backward_speed": -40,
"left_speed": 40,
"right_speed": -40,
"cw_omega": 2,
"ccw_omega": -2
},
"Drone_Random_Config": {
"start_time_bias_ms": 510,
"view_pitch_random": true,
"view_pitch_fixed": 1.37,
"view_pitch_random_max": 1.38,
"view_pitch_random_min": 0.6,
"height_random": true,
"height_fixed": 22,
"height_random_max": 22.0,
"height_random_min": 13.0,
"direction_random": true,
"direction_random_multilateral": false,
"direction_fixed": 1.57,
"direction_random_max": 3.1415926535,
"direction_random_min": -3.1415926535,
"horizon_bias_random": true,
"horizon_bias_multilateral": true,
"horizon_bias_fixed": 0,
"horizon_bias_random_max": 4.5,
"horizon_bias_random_min": 2.5,
"verticle_bias_random": true,
"verticle_bias_multilateral": true,
"verticle_bias_fixed": 0,
"verticle_bias_random_max": 4.5,
"verticle_bias_random_min": 2.5
}
}
village
~~~~~~~~~~~~~~
.. code:: json
{
"Simulation_Mode": "train",
"Tracker_Def": "DRONE",
"Drone_Supervisor_Ctrl": true,
"Socket_Ip": "127.0.0.1",
"Config_Agen_Num_Port": 33509,
"Train_Total_Steps": 1500,
"Init_No_Done_Steps": 100,
"No_Reward_Done_Steps": 100,
"Control_Frequence": 125,
"Customized_Rewards": true,
"Lidar_Enable": false,
"Tracking_Object": "SUMO_VEHICLE",
"Verbose": false,
"Done_Range": {
"max_height": 50,
"min_height": 2,
"velocity": 10000,
"omiga": 6.283,
"roll": 1.22,
"pitch": 1.22,
"distance_error": 50
},
"Reward_Config": {
"reward_type": "view",
"reward_mode": "continuous",
"reward_cut_off": 0.001,
"distance_scale": 0.01,
"distance_range": 7,
"view_scale": 4,
"view_range": 0.7
},
"Sumo_Params": {
"rou_update": true,
"max_sumo_car": 40,
"fixed_car_group_num": false,
"car_group_num": 10,
"car_import_interval": 52.0,
"car_type": "passenger",
"fixed_color": false,
"normalize_color": [
1,
0,
0
],
"max_car_speed": 20,
"max_car_accel": 25,
"max_car_decel": 25,
"max_rou_distance": 7000,
"min_rou_distance": 500,
"route_num": 100000,
"fixed_seed": false,
"random_seed": 1
},
"Other_Params": {
"max_obj_num": 10,
"obj_import_interval": 0.5,
"import_group_num": 4,
"obj_edge_distribution_random": false,
"obj_edge_distribution_multilateral": false,
"obj_edge_distribution_fixed": 0,
"obj_edge_distribution_max": 10,
"obj_edge_distribution_min": -10
},
"Out_Video": {
"channels": 4,
"fps": 50.0,
"start_time": 1.5,
"total_time": 50.0,
"warm_up_steps": 50,
"output_car_dir": false,
"random_action": false,
"forward_speed": 40,
"backward_speed": -40,
"left_speed": 40,
"right_speed": -40,
"cw_omega": 2,
"ccw_omega": -2
},
"Drone_Random_Config": {
"start_time_bias_ms": 1510,
"view_pitch_random": true,
"view_pitch_fixed": 1.37,
"view_pitch_random_max": 1.38,
"view_pitch_random_min": 0.6,
"height_random": true,
"height_fixed": 22,
"height_random_max": 22.0,
"height_random_min": 13.0,
"direction_random": true,
"direction_random_multilateral": false,
"direction_fixed": 1.57,
"direction_random_max": 3.1415926535,
"direction_random_min": -3.1415926535,
"horizon_bias_random": true,
"horizon_bias_multilateral": true,
"horizon_bias_fixed": 0,
"horizon_bias_random_max": 4.5,
"horizon_bias_random_min": 2.5,
"verticle_bias_random": true,
"verticle_bias_multilateral": true,
"verticle_bias_fixed": 0,
"verticle_bias_random_max": 4.5,
"verticle_bias_random_min": 2.5
}
}
lake
~~~~~~~~~~~~~~
.. code:: json
{
"Simulation_Mode": "train",
"Tracker_Def": "DRONE",
"Drone_Supervisor_Ctrl": true,
"Socket_Ip": "127.0.0.1",
"Config_Agen_Num_Port": 33509,
"Train_Total_Steps": 1500,
"Init_No_Done_Steps": 100,
"No_Reward_Done_Steps": 100,
"Control_Frequence": 125,
"Customized_Rewards": true,
"Lidar_Enable": false,
"Tracking_Object": "SUMO_VEHICLE",
"Verbose": false,
"Done_Range": {
"max_height": 50,
"min_height": 2,
"velocity": 10000,
"omiga": 6.283,
"roll": 1.22,
"pitch": 1.22,
"distance_error": 50
},
"Reward_Config": {
"reward_type": "view",
"reward_mode": "continuous",
"reward_cut_off": 0.001,
"distance_scale": 0.01,
"distance_range": 7,
"view_scale": 4,
"view_range": 0.7
},
"Sumo_Params": {
"rou_update": true,
"max_sumo_car": 40,
"fixed_car_group_num": false,
"car_group_num": 10,
"car_import_interval": 52.0,
"car_type": "passenger",
"fixed_color": false,
"normalize_color": [
1,
0,
0
],
"max_car_speed": 20,
"max_car_accel": 25,
"max_car_decel": 25,
"max_rou_distance": 7000,
"min_rou_distance": 500,
"route_num": 100000,
"fixed_seed": false,
"random_seed": 1
},
"Other_Params": {
"max_obj_num": 10,
"obj_import_interval": 0.5,
"import_group_num": 4,
"obj_edge_distribution_random": false,
"obj_edge_distribution_multilateral": false,
"obj_edge_distribution_fixed": 0,
"obj_edge_distribution_max": 10,
"obj_edge_distribution_min": -10
},
"Out_Video": {
"channels": 4,
"fps": 50.0,
"start_time": 1.5,
"total_time": 50.0,
"warm_up_steps": 50,
"output_car_dir": false,
"random_action": false,
"forward_speed": 40,
"backward_speed": -40,
"left_speed": 40,
"right_speed": -40,
"cw_omega": 2,
"ccw_omega": -2
},
"Drone_Random_Config": {
"start_time_bias_ms": 510,
"view_pitch_random": true,
"view_pitch_fixed": 1.37,
"view_pitch_random_max": 1.38,
"view_pitch_random_min": 0.6,
"height_random": true,
"height_fixed": 22,
"height_random_max": 22.0,
"height_random_min": 13.0,
"direction_random": true,
"direction_random_multilateral": false,
"direction_fixed": 1.57,
"direction_random_max": 3.1415926535,
"direction_random_min": -3.1415926535,
"horizon_bias_random": true,
"horizon_bias_multilateral": true,
"horizon_bias_fixed": 0,
"horizon_bias_random_max": 4.5,
"horizon_bias_random_min": 2.5,
"verticle_bias_random": true,
"verticle_bias_multilateral": true,
"verticle_bias_fixed": 0,
"verticle_bias_random_max": 4.5,
"verticle_bias_random_min": 2.5
}
}
desert
~~~~~~~~~~~~~~
.. code:: json
{
"Simulation_Mode": "train",
"Tracker_Def": "DRONE",
"Drone_Supervisor_Ctrl": true,
"Socket_Ip": "127.0.0.1",
"Config_Agen_Num_Port": 35531,
"Train_Total_Steps": 1500,
"Init_No_Done_Steps": 100,
"No_Reward_Done_Steps": 100,
"Control_Frequence": 125,
"Customized_Rewards": true,
"Lidar_Enable": false,
"Tracking_Object": "SUMO_VEHICLE",
"Verbose": false,
"Done_Range": {
"max_height": 50,
"min_height": 2,
"velocity": 10000,
"omiga": 6.283,
"roll": 1.22,
"pitch": 1.22,
"distance_error": 50
},
"Reward_Config": {
"reward_type": "view",
"reward_mode": "continuous",
"reward_cut_off": 0.001,
"distance_scale": 0.01,
"distance_range": 7,
"view_scale": 4,
"view_range": 0.7
},
"Sumo_Params": {
"rou_update": true,
"max_sumo_car": 40,
"fixed_car_group_num": false,
"car_group_num": 10,
"car_import_interval": 52.0,
"car_type": "passenger",
"fixed_color": false,
"normalize_color": [
0,
0,
1
],
"max_car_speed": 20,
"max_car_accel": 25,
"max_car_decel": 25,
"max_rou_distance": 7000,
"min_rou_distance": 500,
"route_num": 100000,
"fixed_seed": false,
"random_seed": 1
},
"Other_Params": {
"max_obj_num": 10,
"obj_import_interval": 0.5,
"import_group_num": 4,
"obj_edge_distribution_random": false,
"obj_edge_distribution_multilateral": false,
"obj_edge_distribution_fixed": 0,
"obj_edge_distribution_max": 10,
"obj_edge_distribution_min": -10
},
"Out_Video": {
"channels": 4,
"fps": 50.0,
"start_time": 1.5,
"total_time": 50.0,
"warm_up_steps": 50,
"output_car_dir": false,
"random_action": false,
"forward_speed": 40,
"backward_speed": -40,
"left_speed": 40,
"right_speed": -40,
"cw_omega": 2,
"ccw_omega": -2
},
"Drone_Random_Config": {
"start_time_bias_ms": 1510,
"view_pitch_random": true,
"view_pitch_fixed": 1.37,
"view_pitch_random_max": 1.38,
"view_pitch_random_min": 0.6,
"height_random": true,
"height_fixed": 22,
"height_random_max": 22.0,
"height_random_min": 13.0,
"direction_random": true,
"direction_random_multilateral": false,
"direction_fixed": 1.57,
"direction_random_max": 3.1415926535,
"direction_random_min": -3.1415926535,
"horizon_bias_random": true,
"horizon_bias_multilateral": true,
"horizon_bias_fixed": 0,
"horizon_bias_random_max": 4.5,
"horizon_bias_random_min": 2.5,
"verticle_bias_random": true,
"verticle_bias_multilateral": true,
"verticle_bias_fixed": 0,
"verticle_bias_random_max": 4.5,
"verticle_bias_random_min": 2.5
}
}
simpleway
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. code:: json
{
"Simulation_Mode": "train",
"Tracker_Def": "DRONE",
"Drone_Supervisor_Ctrl": true,
"Socket_Ip": "127.0.0.1",
"Config_Agen_Num_Port": 35531,
"Train_Total_Steps": 1500,
"Init_No_Done_Steps": 100,
"No_Reward_Done_Steps": 100,
"Control_Frequence": 125,
"Customized_Rewards": true,
"Lidar_Enable": false,
"Tracking_Object": "SUMO_VEHICLE",
"Verbose": false,
"Done_Range": {
"max_height": 50,
"min_height": 2,
"velocity": 10000,
"omiga": 6.283,
"roll": 1.22,
"pitch": 1.22,
"distance_error": 50
},
"Reward_Config": {
"reward_type": "view",
"reward_mode": "continuous",
"reward_cut_off": 0.001,
"distance_scale": 0.01,
"distance_range": 7,
"view_scale": 4,
"view_range": 0.7
},
"Sumo_Params": {
"rou_update": true,
"max_sumo_car": 40,
"fixed_car_group_num": false,
"car_group_num": 10,
"car_import_interval": 52.0,
"car_type": "passenger",
"fixed_color": true,
"normalize_color": [
0,
0,
1
],
"max_car_speed": 20,
"max_car_accel": 25,
"max_car_decel": 25,
"max_rou_distance": 7000,
"min_rou_distance": 500,
"route_num": 100000,
"fixed_seed": false,
"random_seed": 1
},
"Other_Params": {
"max_obj_num": 10,
"obj_import_interval": 0.5,
"import_group_num": 4,
"obj_edge_distribution_random": false,
"obj_edge_distribution_multilateral": false,
"obj_edge_distribution_fixed": 0,
"obj_edge_distribution_max": 10,
"obj_edge_distribution_min": -10
},
"Out_Video": {
"channels": 4,
"fps": 50.0,
"start_time": 1.5,
"total_time": 50.0,
"warm_up_steps": 50,
"output_car_dir": false,
"random_action": false,
"forward_speed": 40,
"backward_speed": -40,
"left_speed": 40,
"right_speed": -40,
"cw_omega": 2,
"ccw_omega": -2
},
"Drone_Random_Config": {
"start_time_bias_ms": 510,
"view_pitch_random": true,
"view_pitch_fixed": 1.37,
"view_pitch_random_max": 1.38,
"view_pitch_random_min": 0.6,
"height_random": true,
"height_fixed": 22,
"height_random_max": 22.0,
"height_random_min": 13.0,
"direction_random": true,
"direction_random_multilateral": false,
"direction_fixed": 1.57,
"direction_random_max": 3.1415926535,
"direction_random_min": -3.1415926535,
"horizon_bias_random": true,
"horizon_bias_multilateral": true,
"horizon_bias_fixed": 0,
"horizon_bias_random_max": 4.5,
"horizon_bias_random_min": 2.5,
"verticle_bias_random": true,
"verticle_bias_multilateral": true,
"verticle_bias_fixed": 0,
"verticle_bias_random_max": 4.5,
"verticle_bias_random_min": 2.5
}
}
Algorithm-side parameters
----------------------------------------------
The parameters located :code:`Alg_Base/rl_a3c_pytorch_benchmark/config.json` file
.. code:: json
{
"Benchmark": {
"Need_render": 0,
"Action_dim": 7,
"State_size": 84,
"State_channel": 3,
"Norm_Type": 0,
"Forward_Speed": 40,
"Backward_Speed": -40,
"Left_Speed": 40,
"Right_Speed": -40,
"CW_omega": 2,
"CCW_omega": -2,
"Control_Frequence": 125,
"port_process": 35531,
"end_reward": false,
"end_reward_list": [
-20,
20
],
"scene": "citystreet",
"weather": "day",
"auto_start": false,
"Other_State": false,
"CloudPoint": false,
"RewardParams": true,
"RewardType": "default",
"verbose": false,
"delay": 20
},
"LunarLander": {
"Need_render": 1,
"Action_dim": 4,
"State_size": 84,
"State_channel": 3,
"Norm_Type": 0
}
}
See: `The comparison table of the two-stage maps <../Algorithm/Model.html#table-cf>`_