From 08b3013eafc0ea37ad481e2745c2ac3215c97d96 Mon Sep 17 00:00:00 2001 From: Dechen Date: Thu, 26 Sep 2024 16:14:49 -0700 Subject: [PATCH] Rename --- car_dreamer/configs/common.yaml | 8 +++--- car_dreamer/configs/tasks.yaml | 44 ++++++++++++++++----------------- 2 files changed, 26 insertions(+), 26 deletions(-) diff --git a/car_dreamer/configs/common.yaml b/car_dreamer/configs/common.yaml index 99dd8f2..d0cf474 100644 --- a/car_dreamer/configs/common.yaml +++ b/car_dreamer/configs/common.yaml @@ -115,9 +115,9 @@ env: ] # Render traffic sign on BEV - birdeye_traffic: + birdeye_with_traffic_lights: handler: birdeye - key: birdeye_traffic + key: birdeye_with_traffic_lights shape: [128, 128, 3] obs_range: 32 ego_offset: 12 @@ -137,9 +137,9 @@ env: stop_signs, ] - birdeye_error_wpt: + birdeye_wpt_with_errors: handler: birdeye - key: birdeye_error_wpt + key: birdeye_wpt_with_errors shape: [128, 128, 3] obs_range: 32 ego_offset: 12 diff --git a/car_dreamer/configs/tasks.yaml b/car_dreamer/configs/tasks.yaml index 24a408c..05c8c29 100644 --- a/car_dreamer/configs/tasks.yaml +++ b/car_dreamer/configs/tasks.yaml @@ -121,7 +121,7 @@ carla_right_turn_simple: &carla_right_turn_simple name: CarlaRightTurnEnv-v0 action: discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9] - observation.enabled: [camera, collision, birdeye_error_wpt] + observation.enabled: [camera, collision, birdeye_wpt] <<: *carla_wpt lane_start_point: [-33.8, -135.1, 0.1, 0.0] ego_path: [[-33.8, -135.1, 0.1], [-5.0, -110.3, 0.1]] @@ -129,9 +129,9 @@ carla_right_turn_simple: &carla_right_turn_simple flow_spawn_point: [-3.4, -151.2, 0.1, 90.0] dreamerv3: - encoder.cnn_keys: "birdeye_error_wpt" - decoder.cnn_keys: "birdeye_error_wpt" - run.log_keys_video: [camera, birdeye_error_wpt] + encoder.cnn_keys: "birdeye_wpt" + decoder.cnn_keys: "birdeye_wpt" + run.log_keys_video: [camera, birdeye_wpt] dreamerv2: encoder.cnn_keys: "birdeye_wpt" @@ -285,8 +285,8 @@ carla_traffic_lights: name: CarlaTrafficLightsEnv-v0 action: discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9] - observation.enabled: [camera, collision, birdeye_traffic] - observation.birdeye_traffic.obs_range: 64 + observation.enabled: [camera, collision, birdeye_with_traffic_lights] + observation.birdeye_with_traffic_lights.obs_range: 64 reward: desired_speed: 4 scales: @@ -321,18 +321,18 @@ carla_traffic_lights: green_duration: [40, 50] display: - render_keys: [camera, birdeye_traffic] + render_keys: [camera, birdeye_with_traffic_lights] dreamerv3: - encoder.cnn_keys: "birdeye_traffic" - decoder.cnn_keys: "birdeye_traffic" - run.log_keys_video: [camera, birdeye_traffic] + encoder.cnn_keys: "birdeye_with_traffic_lights" + decoder.cnn_keys: "birdeye_with_traffic_lights" + run.log_keys_video: [camera, birdeye_with_traffic_lights] dreamerv2: - encoder.cnn_keys: "birdeye_traffic" - decoder.cnn_keys: "birdeye_traffic" + encoder.cnn_keys: "birdeye_with_traffic_lights" + decoder.cnn_keys: "birdeye_with_traffic_lights" decoder.cnn_kernels: [5, 5, 5, 6, 6] - train.log_keys_video: [camera, birdeye_traffic] + train.log_keys_video: [camera, birdeye_with_traffic_lights] carla_stop_sign: env: @@ -341,8 +341,8 @@ carla_stop_sign: name: CarlaStopSignEnv-v0 action: discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9] - observation.enabled: [camera, collision, birdeye_traffic] - observation.birdeye_traffic.obs_range: 64 + observation.enabled: [camera, collision, birdeye_with_traffic_lights] + observation.birdeye_with_traffic_lights.obs_range: 64 reward: desired_speed: 4 scales: @@ -367,15 +367,15 @@ carla_stop_sign: stopping_time: 60 # How long should the vehicle stops display: - render_keys: [camera, birdeye_traffic] + render_keys: [camera, birdeye_with_traffic_lights] dreamerv3: - encoder.cnn_keys: "birdeye_traffic" - decoder.cnn_keys: "birdeye_traffic" - run.log_keys_video: [camera, birdeye_traffic] + encoder.cnn_keys: "birdeye_with_traffic_lights" + decoder.cnn_keys: "birdeye_with_traffic_lights" + run.log_keys_video: [camera, birdeye_with_traffic_lights] dreamerv2: - encoder.cnn_keys: "birdeye_traffic" - decoder.cnn_keys: "birdeye_traffic" + encoder.cnn_keys: "birdeye_with_traffic_lights" + decoder.cnn_keys: "birdeye_with_traffic_lights" decoder.cnn_kernels: [5, 5, 5, 6, 6] - train.log_keys_video: [camera, birdeye_traffic] + train.log_keys_video: [camera, birdeye_with_traffic_lights]