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Copy pathNAV_ACL_hpyerparameters.json
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NAV_ACL_hpyerparameters.json
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{
"default_task_unity" : {
"robot_pose" : {
"translation" :[-2.8,0.0,0.01],
"rotation_yaw" : [0]
},
"dolly_pose" : {
"translation" : [2.5,0.15,0.01],
"rotation_yaw" : [0]
},
"obstacle_pose": {
"translation" : [0.5,1.50,0.1],
"rotation_yaw" : [0]
},
"obstacle_1_pose": {
"translation" : [0.5,-1.7,0.1],
"rotation_yaw" : [0]
},
"obstacle_2_pose": {
"translation" : [2,-1.7,0.1],
"rotation_yaw" : [0]
},
"obstacle_3_pose": {
"translation" : [2.5,2,0.1],
"rotation_yaw" : [0]
}
},
"default_test_unity" : {
"robot_pose" : {
"translation" :[0.0,2.5,0.01],
"rotation_yaw" : [0]
},
"dolly_pose" : {
"translation" : [2.0,0,0.01],
"rotation_yaw" : [0]
},
"obstacle_pose": {
"translation" : [10,0.5,0.01],
"rotation_yaw" : [0]
},
"obstacle_1_pose": {
"translation" : [10,4.1,0.01],
"rotation_yaw" : [0]
},
"obstacle_2_pose": {
"translation" : [10,-1.7,0.1],
"rotation_yaw" : [0]
},
"obstacle_3_pose": {
"translation" : [10,2,0.1],
"rotation_yaw" : [0]
}
},
"crazy_test_unity" : {
"robot_pose" : {
"translation" :[2.0,109.0,0.01],
"rotation_yaw" : [180]
},
"dolly_pose" : {
"translation" : [-7,111.0,0.01],
"rotation_yaw" : [10]
},
"obstacle_pose": {
"translation" : [4.0,111.0,0.1],
"rotation_yaw" : [0]
},
"obstacle_1_pose": {
"translation" : [8.0,111.0,0.1],
"rotation_yaw" : [0]
},
"obstacle_2_pose": {
"translation" : [9.0,111.0,0.1],
"rotation_yaw" : [0]
},
"obstacle_3_pose": {
"translation" : [2.0,111.5,0.1],
"rotation_yaw" : [0]
}
},
"default_task_omniverse" : {
"robot_pose" : {
"translation" :[1.1,0.0,0.01],
"rotation_yaw" : [0]
},
"dolly_pose" : {
"translation" : [2.5,0.15,0.01],
"rotation_yaw" : [0]
},
"obstacle_pose": {
"translation" : [0.5,1.50,0.1],
"rotation_yaw" : [0]
},
"obstacle_1_pose": {
"translation" : [0.5,-1.7,0.1],
"rotation_yaw" : [0]
},
"obstacle_2_pose": {
"translation" : [2,-1.7,0.1],
"rotation_yaw" : [0]
},
"obstacle_3_pose": {
"translation" : [2.5,2,0.1],
"rotation_yaw" : [0]
}
},
"randomization_params" : {
"robot_randomization": {"translation_rnd_xyz":[1,1,0],"rotation_rnd":[180]},
"dolly_randomization": {"translation_rnd_xyz":[0.7,0.4,0],"rotation_rnd":[30]},
"num_obstacles" : 4,
"dolly_pos_spline_angle": 30,
"obstacle_pos_spline_mean" : 0.5,
"min_dist_dolly_robot": 1.5,
"max_dist_dolly_robot": 5.0,
"min_dist_dolly_obs": 2.0,
"max_dist_dolly_obs": 5.1,
"min_dist_robot_obs": 2.0,
"max_dist_robot_obs": 4.1,
"del_obstacle_translation": [1000,1000,1000],
"obstacle_randomization": {"translation_rnd_xyz":[0.8,0.8,0],"rotation_rnd":[12]}
},
"runtimetasks_from_database": true ,
"update_nav_nets_every_N_episodes": 10,
"nav_acl_max_AF_task_samples" : 100,
"nav_acl_AF_boundaries_task_samples" : 100,
"nav_acl_hidden_dim": 16,
"nav_acl_batch_mode": true,
"nav_acl_batch_size": 16,
"nav_acl_lr": 0.004,
"only_random_tasks": false,
"normalize_tasks": true,
"q_ricculum_learning" : true,
"task_generation_method" : "AF",
"create_new_AF_database" : false,
"new_AF_database_size" : 6000,
"use_AF_database" : false,
"AF_database_path" : "/home/developer/Training_results/Qricculum_Learning/big_and_small/hoffentlich/",
"GOID_limits": {"lower_limit" : 0.4,
"upper_limit" : 0.6},
"adaptive_filtering_params" : {"nav_beta": 1.0,
"nav_gamma_low": 1.0,
"nav_gamma_hi": 0.1,
"p_random_max" : 0.15,
"nav_P_omega": 0.97}
}