config_xplan_agent.yaml

entry_point: roach.rl_birdview_agent:RlBirdviewAgent
wb_run_path: null
wb_ckpt_step: null
env_wrapper:
  entry_point: roach.utils.rl_birdview_wrapper:RlBirdviewWrapper
  kwargs:
    input_states:
    - control
    - vel_xy
    acc_as_action: true
policy:
  entry_point: roach.models.ppo_policy:PpoPolicy
  kwargs:
    policy_head_arch:
    - 256
    - 256
    value_head_arch:
    - 256
    - 256
    features_extractor_entry_point: roach.models.torch_layers:XtMaCNN
    features_extractor_kwargs:
      states_neurons:
      - 256
      - 256
    distribution_entry_point: roach.models.distributions:BetaDistribution
    distribution_kwargs:
      dist_init: null
training:
  entry_point: roach.models.ppo:PPO
  kwargs:
    learning_rate: 1.0e-05
    n_steps_total: 12288
    batch_size: 256
    n_epochs: 20
    gamma: 0.99
    gae_lambda: 0.9
    clip_range: 0.2
    clip_range_vf: null
    ent_coef: 0.01
    explore_coef: 0.05
    vf_coef: 0.5
    max_grad_norm: 0.5
    target_kl: 0.01
    update_adv: false
    lr_schedule_step: 8
obs_configs:
  birdview:
    module: birdview.chauffeurnet
    width_in_pixels: 192
    pixels_ev_to_bottom: 40
    pixels_per_meter: 5.0
    history_idx:
    - -16
    - -11
    - -6
    - -1
    scale_bbox: true
    scale_mask_col: 1.0
  speed:
    module: actor_state.speed
  control:
    module: actor_state.control
  velocity:
    module: actor_state.velocity