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params.py
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ac_params_train = {'col':
{'control_channel': 'col',
'discount_factor': 0.99,
'n_hidden_actor': 10,
'nn_stdev_actor': 0.1,
'learning_rate_actor': 0.01,
'action_scaling': None,
'n_hidden_critic': 10,
'nn_stdev_critic': 0.1,
'learning_rate_critic': 0.01,
'tau_target_critic': 1,
'tracked_state': 11,
'ac_states': [2],
'reward_weight': 0.1},
'lon':
{'control_channel': 'lon',
'discount_factor': 0.95,
'n_hidden_actor': 10,
'nn_stdev_actor': 0.1,
'learning_rate_actor': 5,
'action_scaling': None,
'n_hidden_critic': 10,
'nn_stdev_critic': 0.1,
'learning_rate_critic': 5,
'tau_target_critic': 1,
'tracked_state': 7,
'ac_states': [4]}}
ac_params_test = {
'col': {
'control_channel': 'col',
'discount_factor': 0.99,
'n_hidden_actor': 10,
'nn_stdev_actor': 0.1,
'learning_rate_actor': 0.05,
'action_scaling': None,
'n_hidden_critic': 10,
'nn_stdev_critic': 0.1,
'learning_rate_critic': 0.05,
'tau_target_critic': 1,
'tracked_state': 11,
'ac_states': [2],
'reward_weight': 0.1},
'lon': {
'control_channel': 'lon',
'discount_factor': 0.95,
'n_hidden_actor': 10,
'nn_stdev_actor': 0.1,
'learning_rate_actor': 0.05,
'action_scaling': None,
'n_hidden_critic': 10,
'nn_stdev_critic': 0.1,
'learning_rate_critic': 0.05,
'tau_target_critic': 1,
'tracked_state': 7,
'ac_states': [4]}
}
rls_params = {'state_size': 15,
'action_size': 2,
'gamma': 1,
'covariance': 10**8,
'constant': False}
pid_params = {"Ky": 0.03,
"Ky_int": 0.0025,
"Ky_dot": -0.08,
"Kphi": 5,
"Kphi_int": 2.5,
"Kp": -2,
"Kpsi": 5,
"Kpsi_int": 2,
"Kr": -2,
"Kh": 0.005}
env_params_train = {
'initial_velocity': 15,
'initial_flight_path_angle': 0,
'initial_altitude': 0,
'dt': 0.01,
't_max': 120,
't_switch': 60}
env_params_train['step_switch'] = int(env_params_train['t_switch'] / env_params_train['dt'])
env_params_train['n_steps'] = int(env_params_train['t_max'] / env_params_train['dt'])
env_params_test1 = {
'initial_velocity': 0,
'initial_flight_path_angle': 0,
'initial_altitude': 0,
'dt': 0.01,
't_max': 40,
't_switch': 60}
env_params_test1['step_switch'] = int(env_params_test1['t_switch'] / env_params_test1['dt'])
env_params_test1['n_steps'] = int(env_params_test1['t_max'] / env_params_test1['dt'])
env_params_test2 = {'initial_velocity': 18,
'initial_flight_path_angle': -6,
'initial_altitude': 30,
'dt': 0.01,
't_max': 30,
't_switch': 30}
env_params_test2['step_switch'] = int(env_params_test2['t_switch'] / env_params_test2['dt'])
env_params_test2['n_steps'] = int(env_params_test2['t_max'] / env_params_test2['dt'])