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train_hylear.py
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train_hylear.py
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import os
import yaml
import argparse
import subprocess
import time
from datetime import datetime
from multiprocessing import Process
from SAC.sac_discrete import SacdAgent
from hylear.hylear_agent import SharedSacdAgent
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)
config['num_steps'] = 3e6
# Create environments.
env = GIDASBenchmark(port=Config.port)
conn = Connector(Config.despot_port)
eval_mode = False
agent = HyLEAR(env.world, env.map, env.scene, conn, eval_mode)
env.reset_agent(agent)
test_env = GIDASBenchmark(port=Config.port + 100, setting="special")
# 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, f'{name}-seed{args.seed}-{time}')
# Create the agent.
Agent = SacdAgent if not args.shared else SharedSacdAgent
agent = Agent(
env=env, test_env=test_env, log_dir=log_dir, cuda=args.cuda,
seed=args.seed, **config)
agent.run()
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)
def run_test_server():
# test environment
port = "-carla-port={}".format(Config.port + 100)
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('--cuda', action='store_true')
parser.add_argument('--seed', type=int, default=0)
parser.add_argument('--port', type=int, default=2000)
parser.add_argument('--despot_port', type=int, default=1255)
args = parser.parse_args()
Config.port = args.port
Config.despot_port = args.despot_port
print('Env. port: {}'.format(Config.port))
p = Process(target=run_server)
p.start()
time.sleep(5)
p2 = Process(target=run_test_server)
p2.start()
time.sleep(5)
run(args)