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dagger_settings.yaml
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dagger_settings.yaml
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log_dir: "results/loop"
quad_name: "hummingbird"
verbose: False
seq_len: 1 # History Lenght. When increasing to more than one, the model becomes machine dependent due to data saving latency.
checkpoint:
# Put to true and add a path for loading a ckpt
resume_training: False
resume_file: ""
data_generation:
max_rollouts: 150
train_every_n_rollouts: 30
double_th_every_n_rollouts: 30
train:
max_training_epochs: 20
max_allowed_error: 0.6 # Collision rollouts are eliminated from the training
min_number_fts: 40 # Number of feature tracks per image
batch_size: 32
summary_freq: 400
train_dir: "data/loop/train" # Where data will be generated and where the network will train
val_dir: "data/loop/test" # Validation Data, change to a new data folder!
save_every_n_epochs: 5
use_imu: True
use_fts_tracks: True
test_time:
execute_nw_predictions: True
# Dagger constants and random controller constants for exploration
fallback_threshold_rates: 1.0
rand_thrust_mag: 6
rand_rate_mag: 3.5
rand_controller_prob: 0.05