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#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)
import gym
from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
from baselines import deepq
import datetime
def callback(lcl, glb):
# stop training if reward exceeds 199
total = sum(lcl['episode_rewards'][-101:-1]) / 100
totalt = lcl['t']
is_solved = totalt > 2000 and total >= -50
return is_solved
def main():
env = RacecarZEDGymEnv(renders=False, isDiscrete=True)
model = deepq.models.cnn_to_mlp(convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
hiddens=[256],
dueling=False)
act = deepq.learn(env,
q_func=model,
lr=1e-3,
max_timesteps=10000,
buffer_size=50000,
exploration_fraction=0.1,
exploration_final_eps=0.02,
print_freq=10,
callback=callback)
print("Saving model to racecar_zed_model.pkl")
act.save("racecar_zed_model.pkl")
if __name__ == '__main__':
main()
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