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tasks.yaml
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carla_wpt:
&carla_wpt # It's a base configuration for wpt tasks, don't use it directly
reward:
desired_speed: 4 # desired speed (m/s)
scales:
{
waypoint: 2.0,
speed: 0.5,
collision: 30.0,
out_of_lane: 3.0,
time: 0.0,
destination_reached: 20.0,
}
terminal:
time_limit: 500 # maximum timesteps per episode
out_lane_thres: 3 # threshold for out of lane
carla_navigation:
env:
name: CarlaNavigationEnv-v0
observation.enabled: [camera, collision, birdeye_wpt]
num_vehicles: 50
<<: *carla_wpt
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [camera, birdeye_wpt]
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_wpt]
carla_four_lane:
env:
name: CarlaFourLaneEnv-v0
observation.enabled: [camera, collision, birdeye_wpt]
num_vehicles: 50
<<: *carla_wpt
lane_start_points:
- [5.8, 100, 0.1]
- [9.0, 100, 0.1]
- [12.2, 100, 0.1]
- [15.6, 100, 0.1]
lane_end_points:
- [5.8, -58, 0.1]
- [9.0, -58, 0.1]
- [12.2, -58, 0.1]
- [15.6, -58, 0.1]
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [camera, birdeye_wpt]
run.log_keys_max: "collision"
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_wpt]
carla_overtake:
env:
name: CarlaOvertakeEnv-v0
observation.enabled: [collision, birdeye_wpt]
nonego_spawn_points:
- [5.8, 80.0, 0.1, 0.0, -90.0, 0.0]
- [12.2, 80.0, 0.1, 0.0, -90.0, 0.0]
lane_start_points:
- [5.8, 100, 0.1]
lane_end_points:
- [5.8, 0.0, 0.1]
swing_steer: 0.04 # The background vehicle steer for swing .
swing_amplitude: 0.2 # The y-axis amplitude of background vehicle steer.
swing_trigger_dist: 20 # The distance between ego and background vehicle that triggers swing.
pid_coeffs: [0.03, 0.0, 0.03] # The PID controller parameter for background vehicle lane keeping.
reward:
desired_speed: 5 # desired speed (m/s)
reward_overtake_dist: 8 # The distance that triggers overtake reward.
early_lane_change_dist: 10 # The distance that penalizes early lane change.
lane_width: 3.4
scales:
{
waypoint: 2.0,
speed: 0.5,
stay_same_lane: 0.3,
out_of_lane: 3.0,
collision: 30.0,
time: 0.0,
exceeding: 200.0,
overtake: 200.0,
early_lane_change: 0.0,
destination_reached: 20.0,
}
terminal:
out_lane_thres: 5 # threshold for out of lane
time_limit: 500 # maximum timesteps per episode
left_lane_boundry: 3.7 # out of lane boundry
right_lane_boundry: 17.7
lane_width: 3.4
terminal_dist: 100 # terminate tasks
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [birdeye_wpt]
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [birdeye_wpt]
carla_right_turn_simple: &carla_right_turn_simple
env:
world:
town: Town03
name: CarlaRightTurnEnv-v0
action:
discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9]
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]]
use_road_waypoints: [True, False]
flow_spawn_point: [-3.4, -151.2, 0.1, 90.0]
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [camera, birdeye_wpt]
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_wpt]
carla_right_turn_medium:
<<: *carla_right_turn_simple
env.min_flow_dist: 8
env.max_flow_dist: 16
carla_right_turn_hard:
<<: *carla_right_turn_simple
env.min_flow_dist: 6
env.max_flow_dist: 8
carla_right_turn_random:
env:
world:
town: Town03
name: CarlaRightTurnRandomEnv-v0
action:
discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9]
observation.enabled: [camera, collision, birdeye_wpt]
<<: *carla_wpt
lane_start_point:
[
[-33.8, -135.1, 0.1, 0.0],
[-3.2, -165.2, 0.1, 90],
[9.3, -106.2, 0.1, -90]
]
ego_path:
[
[[-33.8, -135.1, 0.1], [-5.0, -110.3, 0.1]],
[[-3.2, -165.2, 0.1, 90], [-20.7, -142.2, 0.1, 180]],
[[9.3, -106.2, 0.1, -90], [31.3, -130.7, 0.1, 0]]
]
use_road_waypoints: [True, False]
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [camera, birdeye_wpt]
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_wpt]
carla_left_turn_simple: &carla_left_turn_simple
env:
world:
town: Town03
name: CarlaLeftTurnEnv-v0
observation.enabled: [camera, collision, birdeye_wpt]
<<: *carla_wpt
lane_start_point: [6.0, -101.0, 0.1, -90.0]
ego_path: [[6.0, -101.0, 0.1], [-26.5, -139.0, 0.1]]
use_road_waypoints: [True, False]
flow_spawn_point: [-22.4, -135.4, 0.1, 0.0]
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [camera, birdeye_wpt]
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_wpt]
carla_left_turn_medium:
<<: *carla_left_turn_simple
env.min_flow_dist: 8
env.max_flow_dist: 16
carla_left_turn_hard:
<<: *carla_left_turn_simple
env.min_flow_dist: 6
env.max_flow_dist: 8
carla_roundabout:
env:
world:
town: Town03
background_speed: 16
name: CarlaRoundaboutEnv-v0
observation.enabled: [camera, collision, birdeye_wpt]
<<: *carla_wpt
lane_start_point: [-52.6, 1.0, 0.1, 0.0]
ego_path:
[
[-52.6, 1.0, 0.1],
[-23.0, 7.5, 0.1],
[-17.0, 11.7, 0.1],
[13.3, -13.2, 0.1],
[7.6, -21.8, 0.1],
[4.2, -43.2, 0.1],
]
use_road_waypoints: [True, False, True, False, True, False]
flow_spawn_point: [-14.1, -13.5, 0.1, 125.0]
min_flow_dist: 10
max_flow_dist: 16
terminal.out_lane_thres: 6
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [camera, birdeye_wpt]
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_wpt]
carla_lane_merge:
env:
world:
town: Town04
background_speed: 25
name: CarlaLaneMergeEnv-v0
observation.enabled: [camera, collision, birdeye_wpt]
<<: *carla_wpt
reward.desired_speed: 6 # desired speed (m/s)
lane_start_point: [49.4, 141.4, 0.5, -155.0]
ego_path: [[49.4, 141.4, 0.5], [15.4, 56.0, 0.1]]
use_road_waypoints: [True, False]
flow_spawn_point: [16.2, 137.5, 0.1, -90.0]
min_flow_dist: 8
max_flow_dist: 14
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [camera, birdeye_wpt]
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_wpt]
carla_traffic_lights:
env:
world:
town: Town03
name: CarlaTrafficLightsEnv-v0
action:
discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9]
observation.enabled: [camera, collision, birdeye_with_traffic_lights]
observation.birdeye_with_traffic_lights.obs_range: 64
reward:
desired_speed: 4
scales:
waypoint: 2.0
speed: 0.5
collision: 30.0
out_of_lane: 3.0
time: 0.0
destination_reached: 20.0
traffic_light_violate: 100.0
terminal:
time_limit: 500 # maximum timesteps per episode
out_lane_thres: 3 # threshold for out of lane
lane_start_point:
[
[-0.3, -163.4, 0.1, 90.0],
[-0.3, -163.4, 0.1, 90.0],
[-3.5, -163.8, 0.1, 90.0],
[-3.5, -163.8, 0.1, 90.0],
]
ego_path:
[
[[-0.3, -163.4, 0.1], [32.5, -133.8, 0.1]],
[[-0.3, -163.4, 0.1], [-1.5, -111.0, 0.1]],
[[-3.5, -163.8, 0.1], [-4.7, -110.6, 0.1]],
[[-3.5, -163.8, 0.1], [-27.0, -138.8, 0.1]],
]
use_road_waypoints: [True, False]
traffic_locations: [-3.4, -125.1, 0.1] # Location of traffic sign
red_duration: [60, 80]
green_duration: [40, 50]
display:
render_keys: [camera, birdeye_with_traffic_lights]
dreamerv3:
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_with_traffic_lights"
decoder.cnn_keys: "birdeye_with_traffic_lights"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_with_traffic_lights]
carla_stop_sign:
env:
world:
town: Town04
name: CarlaStopSignEnv-v0
action:
discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9]
observation.enabled: [camera, collision, birdeye_with_traffic_lights]
observation.birdeye_with_traffic_lights.obs_range: 64
reward:
desired_speed: 4
scales:
waypoint: 2.0
speed: 0.5
collision: 30.0
out_of_lane: 3.0
time: 0.0
destination_reached: 20.0
traffic_light_violate: 100.0
stop_sign: 5.0
speed_before_stop: 1.0
terminal:
time_limit: 500 # maximum timesteps per episode
out_lane_thres: 3 # threshold for out of lane
lane_start_point: [[179.5, -169.5, 5, 0.0]]
ego_path: [[[179.5, -169.5, 0.1], [215.5, -169.1, 0.1]]]
use_road_waypoints: [True, False]
traffic_locations: [189.9, -169.6, 0.1] # Location of traffic sign
stop_sign_proximity_threshold: 2
stopping_time: 60 # How long should the vehicle stops
display:
render_keys: [camera, birdeye_with_traffic_lights]
dreamerv3:
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_with_traffic_lights"
decoder.cnn_keys: "birdeye_with_traffic_lights"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [camera, birdeye_with_traffic_lights]
carla_follow:
env:
world:
town: Town03
name: CarlaFollowEnv-v0
action:
discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9]
observation.enabled: [camera, collision, birdeye_wpt]
<<: *carla_wpt
pid_coeffs: [0.03, 0.0, 0.0]
reward:
desired_speed: 4
scales: {
waypoint: 0.0,
speed: 0.0,
collision: 350.0,
out_of_lane: 75.0,
time: 0.0,
destination_reached: 1.0,
velocity: 0.15,
waypoints: 4.0,
distance: 2.0
}
terminal:
time_limit: 500 # maximum timesteps per episode
out_lane_thres: 5 # threshold for out of lane
terminal_dist: 30
direction: 2 # determining which direction we are testing
# 0: straight
# 1: right turn
# 2: left turn
# -1: random
nonego_spawn_points:
- [-53.6, -135.8, 0.1, 0.0, 0.0, 0.0] # straight
- [-32.4, -135.3, 0.1, 0.0, 0.0, 0.0] # right turn
- [-27.3, -135.2, 0.1, 0.0, 0.0, 0.0] # left turn
lane_start_points:
- [-63.6, -135.8, 0.1] # straight
- [-42.4, -135.3, 0.1] # right turn
- [-37.3, -135.2, 0.1] # left turn
lane_end_points:
- [-14.4, -134.5, 0.1] # straight
- [-5.1, -91.1, 0.1] # right turn
- [7.2, -178.2, 0.1] # left turn
dreamerv3:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
run.log_keys_video: [birdeye_wpt]
dreamerv2:
encoder.cnn_keys: "birdeye_wpt"
decoder.cnn_keys: "birdeye_wpt"
decoder.cnn_kernels: [5, 5, 5, 6, 6]
train.log_keys_video: [birdeye_wpt]