Parameters Setting
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Environment Parameters
The parameters located Webots_Simulation/traffic_project/config/env_config.json file
citystreet
{ "Simulation_Mode": "train", "Tracker_Def": "DRONE", "Drone_Supervisor_Ctrl": true, "Socket_Ip": "127.0.0.1", "Config_Agen_Num_Port": 35531, "Train_Total_Steps": 1500, "Init_No_Done_Steps": 100, "No_Reward_Done_Steps": 100, "Control_Frequence": 125, "Customized_Rewards": true, "Lidar_Enable": false, "Tracking_Object": "SUMO_VEHICLE", "Verbose": false, "Done_Range": { "max_height": 50, "min_height": 2, "velocity": 10000, "omiga": 6.283, "roll": 1.22, "pitch": 1.22, "distance_error": 50 }, "Reward_Config": { "reward_type": "view", "reward_mode": "continuous", "reward_cut_off": 0.001, "distance_scale": 0.01, "distance_range": 7, "view_scale": 4, "view_range": 0.7 }, "Sumo_Params": { "rou_update": true, "max_sumo_car": 40, "fixed_car_group_num": false, "car_group_num": 10, "car_import_interval": 52.0, "car_type": "passenger", "fixed_color": false, "normalize_color": [ 1, 0, 0 ], "max_car_speed": 20, "max_car_accel": 25, "max_car_decel": 25, "max_rou_distance": 7000, "min_rou_distance": 500, "route_num": 100000, "fixed_seed": false, "random_seed": 1 }, "Other_Params": { "max_obj_num": 10, "obj_import_interval": 0.5, "import_group_num": 4, "obj_edge_distribution_random": false, "obj_edge_distribution_multilateral": false, "obj_edge_distribution_fixed": 0, "obj_edge_distribution_max": 10, "obj_edge_distribution_min": -10 }, "Out_Video": { "channels": 4, "fps": 50.0, "start_time": 1.5, "total_time": 50.0, "warm_up_steps": 50, "output_car_dir": false, "random_action": false, "forward_speed": 40, "backward_speed": -40, "left_speed": 40, "right_speed": -40, "cw_omega": 2, "ccw_omega": -2 }, "Drone_Random_Config": { "start_time_bias_ms": 510, "view_pitch_random": true, "view_pitch_fixed": 1.37, "view_pitch_random_max": 1.38, "view_pitch_random_min": 0.6, "height_random": true, "height_fixed": 22, "height_random_max": 22.0, "height_random_min": 13.0, "direction_random": true, "direction_random_multilateral": false, "direction_fixed": 1.57, "direction_random_max": 3.1415926535, "direction_random_min": -3.1415926535, "horizon_bias_random": true, "horizon_bias_multilateral": true, "horizon_bias_fixed": 0, "horizon_bias_random_max": 4.5, "horizon_bias_random_min": 2.5, "verticle_bias_random": true, "verticle_bias_multilateral": true, "verticle_bias_fixed": 0, "verticle_bias_random_max": 4.5, "verticle_bias_random_min": 2.5 } }
farmland
{ "Simulation_Mode": "train", "Tracker_Def": "DRONE", "Drone_Supervisor_Ctrl": true, "Socket_Ip": "127.0.0.1", "Config_Agen_Num_Port": 35531, "Train_Total_Steps": 1500, "Init_No_Done_Steps": 100, "No_Reward_Done_Steps": 100, "Control_Frequence": 125, "Customized_Rewards": true, "Lidar_Enable": false, "Tracking_Object": "SUMO_VEHICLE", "Verbose": false, "Done_Range": { "max_height": 50, "min_height": 2, "velocity": 10000, "omiga": 6.283, "roll": 1.22, "pitch": 1.22, "distance_error": 50 }, "Reward_Config": { "reward_type": "view", "reward_mode": "continuous", "reward_cut_off": 0.001, "distance_scale": 0.01, "distance_range": 7, "view_scale": 4, "view_range": 0.7 }, "Sumo_Params": { "rou_update": true, "max_sumo_car": 40, "fixed_car_group_num": false, "car_group_num": 10, "car_import_interval": 52.0, "car_type": "passenger", "fixed_color": false, "normalize_color": [ 1, 0, 0 ], "max_car_speed": 20, "max_car_accel": 25, "max_car_decel": 25, "max_rou_distance": 7000, "min_rou_distance": 500, "route_num": 100000, "fixed_seed": false, "random_seed": 1 }, "Other_Params": { "max_obj_num": 10, "obj_import_interval": 0.5, "import_group_num": 4, "obj_edge_distribution_random": false, "obj_edge_distribution_multilateral": false, "obj_edge_distribution_fixed": 0, "obj_edge_distribution_max": 10, "obj_edge_distribution_min": -10 }, "Out_Video": { "channels": 4, "fps": 50.0, "start_time": 1.5, "total_time": 50.0, "warm_up_steps": 50, "output_car_dir": false, "random_action": false, "forward_speed": 40, "backward_speed": -40, "left_speed": 40, "right_speed": -40, "cw_omega": 2, "ccw_omega": -2 }, "Drone_Random_Config": { "start_time_bias_ms": 510, "view_pitch_random": true, "view_pitch_fixed": 1.37, "view_pitch_random_max": 1.38, "view_pitch_random_min": 0.6, "height_random": true, "height_fixed": 22, "height_random_max": 22.0, "height_random_min": 13.0, "direction_random": true, "direction_random_multilateral": false, "direction_fixed": 1.57, "direction_random_max": 3.1415926535, "direction_random_min": -3.1415926535, "horizon_bias_random": true, "horizon_bias_multilateral": true, "horizon_bias_fixed": 0, "horizon_bias_random_max": 4.5, "horizon_bias_random_min": 2.5, "verticle_bias_random": true, "verticle_bias_multilateral": true, "verticle_bias_fixed": 0, "verticle_bias_random_max": 4.5, "verticle_bias_random_min": 2.5 } }
downtown
{ "Simulation_Mode": "train", "Tracker_Def": "DRONE", "Drone_Supervisor_Ctrl": true, "Socket_Ip": "127.0.0.1", "Config_Agen_Num_Port": 35531, "Train_Total_Steps": 1500, "Init_No_Done_Steps": 100, "No_Reward_Done_Steps": 100, "Control_Frequence": 125, "Customized_Rewards": true, "Lidar_Enable": false, "Tracking_Object": "SUMO_VEHICLE", "Verbose": false, "Done_Range": { "max_height": 50, "min_height": 2, "velocity": 10000, "omiga": 6.283, "roll": 1.22, "pitch": 1.22, "distance_error": 50 }, "Reward_Config": { "reward_type": "view", "reward_mode": "continuous", "reward_cut_off": 0.001, "distance_scale": 0.01, "distance_range": 7, "view_scale": 4, "view_range": 0.7 }, "Sumo_Params": { "rou_update": true, "max_sumo_car": 40, "fixed_car_group_num": false, "car_group_num": 10, "car_import_interval": 52.0, "car_type": "passenger", "fixed_color": false, "normalize_color": [ 1, 0, 0 ], "max_car_speed": 20, "max_car_accel": 25, "max_car_decel": 25, "max_rou_distance": 7000, "min_rou_distance": 500, "route_num": 100000, "fixed_seed": false, "random_seed": 1 }, "Other_Params": { "max_obj_num": 10, "obj_import_interval": 0.5, "import_group_num": 4, "obj_edge_distribution_random": false, "obj_edge_distribution_multilateral": false, "obj_edge_distribution_fixed": 0, "obj_edge_distribution_max": 10, "obj_edge_distribution_min": -10 }, "Out_Video": { "channels": 4, "fps": 50.0, "start_time": 1.5, "total_time": 50.0, "warm_up_steps": 50, "output_car_dir": false, "random_action": false, "forward_speed": 40, "backward_speed": -40, "left_speed": 40, "right_speed": -40, "cw_omega": 2, "ccw_omega": -2 }, "Drone_Random_Config": { "start_time_bias_ms": 510, "view_pitch_random": true, "view_pitch_fixed": 1.37, "view_pitch_random_max": 1.38, "view_pitch_random_min": 0.6, "height_random": true, "height_fixed": 22, "height_random_max": 22.0, "height_random_min": 13.0, "direction_random": true, "direction_random_multilateral": false, "direction_fixed": 1.57, "direction_random_max": 3.1415926535, "direction_random_min": -3.1415926535, "horizon_bias_random": true, "horizon_bias_multilateral": true, "horizon_bias_fixed": 0, "horizon_bias_random_max": 4.5, "horizon_bias_random_min": 2.5, "verticle_bias_random": true, "verticle_bias_multilateral": true, "verticle_bias_fixed": 0, "verticle_bias_random_max": 4.5, "verticle_bias_random_min": 2.5 } }
village
{ "Simulation_Mode": "train", "Tracker_Def": "DRONE", "Drone_Supervisor_Ctrl": true, "Socket_Ip": "127.0.0.1", "Config_Agen_Num_Port": 33509, "Train_Total_Steps": 1500, "Init_No_Done_Steps": 100, "No_Reward_Done_Steps": 100, "Control_Frequence": 125, "Customized_Rewards": true, "Lidar_Enable": false, "Tracking_Object": "SUMO_VEHICLE", "Verbose": false, "Done_Range": { "max_height": 50, "min_height": 2, "velocity": 10000, "omiga": 6.283, "roll": 1.22, "pitch": 1.22, "distance_error": 50 }, "Reward_Config": { "reward_type": "view", "reward_mode": "continuous", "reward_cut_off": 0.001, "distance_scale": 0.01, "distance_range": 7, "view_scale": 4, "view_range": 0.7 }, "Sumo_Params": { "rou_update": true, "max_sumo_car": 40, "fixed_car_group_num": false, "car_group_num": 10, "car_import_interval": 52.0, "car_type": "passenger", "fixed_color": false, "normalize_color": [ 1, 0, 0 ], "max_car_speed": 20, "max_car_accel": 25, "max_car_decel": 25, "max_rou_distance": 7000, "min_rou_distance": 500, "route_num": 100000, "fixed_seed": false, "random_seed": 1 }, "Other_Params": { "max_obj_num": 10, "obj_import_interval": 0.5, "import_group_num": 4, "obj_edge_distribution_random": false, "obj_edge_distribution_multilateral": false, "obj_edge_distribution_fixed": 0, "obj_edge_distribution_max": 10, "obj_edge_distribution_min": -10 }, "Out_Video": { "channels": 4, "fps": 50.0, "start_time": 1.5, "total_time": 50.0, "warm_up_steps": 50, "output_car_dir": false, "random_action": false, "forward_speed": 40, "backward_speed": -40, "left_speed": 40, "right_speed": -40, "cw_omega": 2, "ccw_omega": -2 }, "Drone_Random_Config": { "start_time_bias_ms": 1510, "view_pitch_random": true, "view_pitch_fixed": 1.37, "view_pitch_random_max": 1.38, "view_pitch_random_min": 0.6, "height_random": true, "height_fixed": 22, "height_random_max": 22.0, "height_random_min": 13.0, "direction_random": true, "direction_random_multilateral": false, "direction_fixed": 1.57, "direction_random_max": 3.1415926535, "direction_random_min": -3.1415926535, "horizon_bias_random": true, "horizon_bias_multilateral": true, "horizon_bias_fixed": 0, "horizon_bias_random_max": 4.5, "horizon_bias_random_min": 2.5, "verticle_bias_random": true, "verticle_bias_multilateral": true, "verticle_bias_fixed": 0, "verticle_bias_random_max": 4.5, "verticle_bias_random_min": 2.5 } }
lake
{ "Simulation_Mode": "train", "Tracker_Def": "DRONE", "Drone_Supervisor_Ctrl": true, "Socket_Ip": "127.0.0.1", "Config_Agen_Num_Port": 33509, "Train_Total_Steps": 1500, "Init_No_Done_Steps": 100, "No_Reward_Done_Steps": 100, "Control_Frequence": 125, "Customized_Rewards": true, "Lidar_Enable": false, "Tracking_Object": "SUMO_VEHICLE", "Verbose": false, "Done_Range": { "max_height": 50, "min_height": 2, "velocity": 10000, "omiga": 6.283, "roll": 1.22, "pitch": 1.22, "distance_error": 50 }, "Reward_Config": { "reward_type": "view", "reward_mode": "continuous", "reward_cut_off": 0.001, "distance_scale": 0.01, "distance_range": 7, "view_scale": 4, "view_range": 0.7 }, "Sumo_Params": { "rou_update": true, "max_sumo_car": 40, "fixed_car_group_num": false, "car_group_num": 10, "car_import_interval": 52.0, "car_type": "passenger", "fixed_color": false, "normalize_color": [ 1, 0, 0 ], "max_car_speed": 20, "max_car_accel": 25, "max_car_decel": 25, "max_rou_distance": 7000, "min_rou_distance": 500, "route_num": 100000, "fixed_seed": false, "random_seed": 1 }, "Other_Params": { "max_obj_num": 10, "obj_import_interval": 0.5, "import_group_num": 4, "obj_edge_distribution_random": false, "obj_edge_distribution_multilateral": false, "obj_edge_distribution_fixed": 0, "obj_edge_distribution_max": 10, "obj_edge_distribution_min": -10 }, "Out_Video": { "channels": 4, "fps": 50.0, "start_time": 1.5, "total_time": 50.0, "warm_up_steps": 50, "output_car_dir": false, "random_action": false, "forward_speed": 40, "backward_speed": -40, "left_speed": 40, "right_speed": -40, "cw_omega": 2, "ccw_omega": -2 }, "Drone_Random_Config": { "start_time_bias_ms": 510, "view_pitch_random": true, "view_pitch_fixed": 1.37, "view_pitch_random_max": 1.38, "view_pitch_random_min": 0.6, "height_random": true, "height_fixed": 22, "height_random_max": 22.0, "height_random_min": 13.0, "direction_random": true, "direction_random_multilateral": false, "direction_fixed": 1.57, "direction_random_max": 3.1415926535, "direction_random_min": -3.1415926535, "horizon_bias_random": true, "horizon_bias_multilateral": true, "horizon_bias_fixed": 0, "horizon_bias_random_max": 4.5, "horizon_bias_random_min": 2.5, "verticle_bias_random": true, "verticle_bias_multilateral": true, "verticle_bias_fixed": 0, "verticle_bias_random_max": 4.5, "verticle_bias_random_min": 2.5 } }
desert
{ "Simulation_Mode": "train", "Tracker_Def": "DRONE", "Drone_Supervisor_Ctrl": true, "Socket_Ip": "127.0.0.1", "Config_Agen_Num_Port": 35531, "Train_Total_Steps": 1500, "Init_No_Done_Steps": 100, "No_Reward_Done_Steps": 100, "Control_Frequence": 125, "Customized_Rewards": true, "Lidar_Enable": false, "Tracking_Object": "SUMO_VEHICLE", "Verbose": false, "Done_Range": { "max_height": 50, "min_height": 2, "velocity": 10000, "omiga": 6.283, "roll": 1.22, "pitch": 1.22, "distance_error": 50 }, "Reward_Config": { "reward_type": "view", "reward_mode": "continuous", "reward_cut_off": 0.001, "distance_scale": 0.01, "distance_range": 7, "view_scale": 4, "view_range": 0.7 }, "Sumo_Params": { "rou_update": true, "max_sumo_car": 40, "fixed_car_group_num": false, "car_group_num": 10, "car_import_interval": 52.0, "car_type": "passenger", "fixed_color": false, "normalize_color": [ 0, 0, 1 ], "max_car_speed": 20, "max_car_accel": 25, "max_car_decel": 25, "max_rou_distance": 7000, "min_rou_distance": 500, "route_num": 100000, "fixed_seed": false, "random_seed": 1 }, "Other_Params": { "max_obj_num": 10, "obj_import_interval": 0.5, "import_group_num": 4, "obj_edge_distribution_random": false, "obj_edge_distribution_multilateral": false, "obj_edge_distribution_fixed": 0, "obj_edge_distribution_max": 10, "obj_edge_distribution_min": -10 }, "Out_Video": { "channels": 4, "fps": 50.0, "start_time": 1.5, "total_time": 50.0, "warm_up_steps": 50, "output_car_dir": false, "random_action": false, "forward_speed": 40, "backward_speed": -40, "left_speed": 40, "right_speed": -40, "cw_omega": 2, "ccw_omega": -2 }, "Drone_Random_Config": { "start_time_bias_ms": 1510, "view_pitch_random": true, "view_pitch_fixed": 1.37, "view_pitch_random_max": 1.38, "view_pitch_random_min": 0.6, "height_random": true, "height_fixed": 22, "height_random_max": 22.0, "height_random_min": 13.0, "direction_random": true, "direction_random_multilateral": false, "direction_fixed": 1.57, "direction_random_max": 3.1415926535, "direction_random_min": -3.1415926535, "horizon_bias_random": true, "horizon_bias_multilateral": true, "horizon_bias_fixed": 0, "horizon_bias_random_max": 4.5, "horizon_bias_random_min": 2.5, "verticle_bias_random": true, "verticle_bias_multilateral": true, "verticle_bias_fixed": 0, "verticle_bias_random_max": 4.5, "verticle_bias_random_min": 2.5 } }
simpleway
{ "Simulation_Mode": "train", "Tracker_Def": "DRONE", "Drone_Supervisor_Ctrl": true, "Socket_Ip": "127.0.0.1", "Config_Agen_Num_Port": 35531, "Train_Total_Steps": 1500, "Init_No_Done_Steps": 100, "No_Reward_Done_Steps": 100, "Control_Frequence": 125, "Customized_Rewards": true, "Lidar_Enable": false, "Tracking_Object": "SUMO_VEHICLE", "Verbose": false, "Done_Range": { "max_height": 50, "min_height": 2, "velocity": 10000, "omiga": 6.283, "roll": 1.22, "pitch": 1.22, "distance_error": 50 }, "Reward_Config": { "reward_type": "view", "reward_mode": "continuous", "reward_cut_off": 0.001, "distance_scale": 0.01, "distance_range": 7, "view_scale": 4, "view_range": 0.7 }, "Sumo_Params": { "rou_update": true, "max_sumo_car": 40, "fixed_car_group_num": false, "car_group_num": 10, "car_import_interval": 52.0, "car_type": "passenger", "fixed_color": true, "normalize_color": [ 0, 0, 1 ], "max_car_speed": 20, "max_car_accel": 25, "max_car_decel": 25, "max_rou_distance": 7000, "min_rou_distance": 500, "route_num": 100000, "fixed_seed": false, "random_seed": 1 }, "Other_Params": { "max_obj_num": 10, "obj_import_interval": 0.5, "import_group_num": 4, "obj_edge_distribution_random": false, "obj_edge_distribution_multilateral": false, "obj_edge_distribution_fixed": 0, "obj_edge_distribution_max": 10, "obj_edge_distribution_min": -10 }, "Out_Video": { "channels": 4, "fps": 50.0, "start_time": 1.5, "total_time": 50.0, "warm_up_steps": 50, "output_car_dir": false, "random_action": false, "forward_speed": 40, "backward_speed": -40, "left_speed": 40, "right_speed": -40, "cw_omega": 2, "ccw_omega": -2 }, "Drone_Random_Config": { "start_time_bias_ms": 510, "view_pitch_random": true, "view_pitch_fixed": 1.37, "view_pitch_random_max": 1.38, "view_pitch_random_min": 0.6, "height_random": true, "height_fixed": 22, "height_random_max": 22.0, "height_random_min": 13.0, "direction_random": true, "direction_random_multilateral": false, "direction_fixed": 1.57, "direction_random_max": 3.1415926535, "direction_random_min": -3.1415926535, "horizon_bias_random": true, "horizon_bias_multilateral": true, "horizon_bias_fixed": 0, "horizon_bias_random_max": 4.5, "horizon_bias_random_min": 2.5, "verticle_bias_random": true, "verticle_bias_multilateral": true, "verticle_bias_fixed": 0, "verticle_bias_random_max": 4.5, "verticle_bias_random_min": 2.5 } }
Algorithm-side parameters
The parameters located Alg_Base/rl_a3c_pytorch_benchmark/config.json file
{ "Benchmark": { "Need_render": 0, "Action_dim": 7, "State_size": 84, "State_channel": 3, "Norm_Type": 0, "Forward_Speed": 40, "Backward_Speed": -40, "Left_Speed": 40, "Right_Speed": -40, "CW_omega": 2, "CCW_omega": -2, "Control_Frequence": 125, "port_process": 35531, "end_reward": false, "end_reward_list": [ -20, 20 ], "scene": "citystreet", "weather": "day", "auto_start": false, "Other_State": false, "CloudPoint": false, "RewardParams": true, "RewardType": "default", "verbose": false, "delay": 20 }, "LunarLander": { "Need_render": 1, "Action_dim": 4, "State_size": 84, "State_channel": 3, "Norm_Type": 0 } }