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config.txt
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config.txt
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################################## parameters of task 1: memorizing ##################################
# reward parameter
r_arrive = 100
r_collision = -50
Cr = 100
Cp = -0.05 # time step penalty
# goal
goal_space = []
start_space = []
test_space = []
goal_space_nav0 = []
goal_space_nav1 = [[-3.8, -3.8]]
goal_space_nav2 = [[-3, -3.2]]
start_space_nav0 = []
start_space_nav1 = [[-0.4, -2.6]] # ,4.0/3*math.pi, set 'theta = 4.0/3*math.pi' in reset function of env.py
start_space_nav2 = [[0.65, -3.0]] # ,1.0/2*math.pi, set 'theta = 1.0/2*math.pi' in reset function of env.py
goal_space.append(goal_space_nav0)
goal_space.append(goal_space_nav1)
goal_space.append(goal_space_nav2)
start_space.append(start_space_nav0)
start_space.append(start_space_nav1)
start_space.append(start_space_nav2)
# step, every step sleep 0.05s
Cd = 0.1
# max linear velocity
v_max = 0.5 # m/s
# max angular velocity
w_max = 1.2 # rad/s
# VAE related
latent_vector_dim = 32
vae_weight = path + '/scripts/worldModels/models/vae_weights.h5'
########################## parameters of task 2: from memorizing to reasoning ###########################
# reward parameter
r_arrive = 100
r_collision = -50
Cr = 100
Cp = -0.05 # time step penalty
# goal
goal_space = []
start_space = []
test_space = []
goal_space_nav0 = []
test_space_nav0 = []
goal_space_nav1 = [[-3.8, -3.8], [-1.5, -4], [-3, -2.2]]
test_space_nav1 = [goal_space_nav1[-1]]
goal_space_nav2 = [[-3, -3.2], [-1.8, -3.2], [-2, -2.6], [-0.8, -3.5], [-0.4, -2.6], [-2.5, -3], [-3, -3], [-2, -1.9],
[-1.3, -3.8], [-3.3, -4], [-3, -3.8], [-1.2, -3.2]]
test_space_nav2 = [goal_space_nav2[-1], goal_space_nav2[-2]]
start_space_nav0 = []
start_space_nav1 = [[-0.4, -2.6]] # 4.0/3*math.pi,set 'theta = 4.0/3*math.pi' in reset function of env.py
start_space_nav2 = [[0.65, -3.0]] # ,1.0/2*math.pi, set 'theta = 1.0/2*math.pi' in reset function of env.py
goal_space.append(goal_space_nav0)
goal_space.append(goal_space_nav1)
goal_space.append(goal_space_nav2)
test_space.append(test_space_nav0)
test_space.append(test_space_nav1)
test_space.append(test_space_nav2)
start_space.append(start_space_nav0)
start_space.append(start_space_nav1)
start_space.append(start_space_nav2)
Cd = 0.354/2 # =r
# max linear velocity
v_max = 0.3 # m/s
# max angular velocity
w_max = 1.0 # rad/s