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Fix dynamics model and some setting updates #447

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Merged
daphne-cornelisse merged 6 commits into from
May 13, 2025
Merged

Fix dynamics model and some setting updates #447

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fc3f49a
Fix: ensure vbd_online can be used on cuda and cpu.
daphne-cornelisse May 13, 2025
b30cf52
Small updates
daphne-cornelisse May 13, 2025
b4bb2a6
WOSAC defaults
daphne-cornelisse May 13, 2025
3f5d97c
Dynamics model fix
daphne-cornelisse May 13, 2025
ab3124c
Merge branch 'dev' into dc/res
daphne-cornelisse May 13, 2025
6148cf1
Minor
daphne-cornelisse May 13, 2025
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8 changes: 4 additions & 4 deletions baselines/ppo/config/ppo_guided_autonomy.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,8 @@ environment: # Overrides default environment configs (see pygpudrive/env/config.

# Reward function
reward_type: "guided_autonomy"
collision_weight: -0.01
off_road_weight: -0.01
collision_weight: -0.1
off_road_weight: -0.1
guidance_speed_weight: 0.005
guidance_heading_weight: 0.005
smoothness_weight: 0.0
Expand All @@ -52,7 +52,7 @@ environment: # Overrides default environment configs (see pygpudrive/env/config.
wandb:
entity: ""
project: "humanlike"
group: "debug_mini"
group: "debug_mini"
mode: "online" # Options: online, offline, disabled
tags: ["ppo", "ff"]

Expand All @@ -69,7 +69,7 @@ train:
resample_scenes: false
resample_dataset_size: 10_000 # Number of unique scenes to sample from
resample_interval: 5_000_000
sample_with_replacement: false
sample_with_replacement: true
shuffle_dataset: true
file_prefix: ""

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