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# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
from irlc import train
from irlc.car.car_model import CarEnvironment
from irlc.ex04.pid_car import PIDCarAgent
if __name__ == "__main__":
env = CarEnvironment(noise_scale=0, Tmax=30, max_laps=1, render_mode='human')
agent = PIDCarAgent(env, v_target=.2, use_both_x5_x3=False)
stats, trajectories = train(env, agent, num_episodes=1, return_trajectory=True)
env.close()
# agent = PIDCarAgent(env, v_target=1, use_both_x5_x3=True) # I recommend lowering v_target to make the problem simpler.