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eval_hylear.py
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eval_hylear.py
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"""
Author: Dikshant Gupta
Time: 28.09.22 07:31
"""
import os
import yaml
import argparse
import subprocess
import time
from datetime import datetime
from multiprocessing import Process
from SAC.sac_discrete import EvalSacdAgent
from benchmark.environment import GIDASBenchmark
from utils.connector import Connector
from hylear.hylear_controller import HyLEAR
from config import Config
def run(args):
with open(args.config) as f:
config = yaml.load(f, Loader=yaml.SafeLoader)
# Create environments.
env = GIDASBenchmark(port=Config.port)
env.eval(current_episode=args.episode)
conn = Connector(Config.despot_port)
eval_mode = True
agent = HyLEAR(env.world, env.map, env.scene, conn, eval_mode)
env.reset_agent(agent)
# Specify the directory to log.
name = args.config.split('/')[-1].rstrip('.yaml')
if args.shared:
name = 'shared-' + name
time = datetime.now().strftime("%Y%m%d-%H%M")
log_dir = os.path.join(
'_out', args.env_id, 'eval', f'{name}-seed{args.seed}-{time}')
# Create the agent.
agent = EvalSacdAgent(
env=env, test_env=env, log_dir=log_dir, cuda=args.cuda, current_episode=args.episode,
seed=args.seed, agent=args.agent, **config)
agent.evaluate()
def run_server():
# train environment
port = "-carla-port={}".format(Config.port)
subprocess.run(['cd /home/carla && SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl ' + port], shell=True)
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument(
'--config', type=str, default=os.path.join('SAC/sac_discrete/config', 'sacd.yaml'))
parser.add_argument('--shared', action='store_true')
parser.add_argument('--env_id', type=str, default='GIDASBenchmark')
parser.add_argument('--agent', type=str, default='hylear')
parser.add_argument('--cuda', action='store_true')
parser.add_argument('--seed', type=int, default=0)
parser.add_argument('--port', type=int, default=2200)
parser.add_argument('--episode', type=int, default=0)
parser.add_argument('--test', type=str, default='')
args = parser.parse_args()
Config.port = args.port
print('Env. port: {}'.format(Config.port))
if args.test:
Config.test_scenarios = [args.test]
p = Process(target=run_server)
p.start()
time.sleep(5)
run(args)