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Custom network reworked #7

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Custom network reworked #7

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9633f54
custom neural network from json
cliebig2019 Jul 21, 2022
fc4a1af
train_agent passing path to agentFactory
cliebig2019 Jul 21, 2022
83424a5
rosparam to network file; new arg for custom network
cliebig2019 Aug 2, 2022
018dbb5
changed rosparam custom_network_path
cliebig2019 Aug 25, 2022
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3 changes: 3 additions & 0 deletions arena_bringup/launch/start_training.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,9 @@
<param name="robot_yaml_path" value="$(find arena-simulation-setup)/robot/$(arg model)/$(arg model).model.yaml" />
<param name="tmp_model_path" value="/tmp" />

<!-- Path to a json file to load custom neural network -->
<param name="custom_network_path" value="../network.json"/>

<rosparam command="load" file="$(find arena_bringup)/params/flatland.yaml" />
<rosparam command="load" file="$(find arena_bringup)/params/drl.yaml" />

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Empty file modified training/scripts/train_agent.py
100755 → 100644
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1 change: 1 addition & 0 deletions training/tools/argsparser.py
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Expand Up @@ -23,6 +23,7 @@ def training_args(parser):
import rosnav.model.custom_policy
import rosnav.model.custom_sb3_policy
from rosnav.model.agent_factory import AgentFactory
import rosnav.model.custom_policy_from_json

group.add_argument(
"--agent",
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