dc647737c88e1ea77b5e53eb181c50b515a76a34,tensorflow_agent/agent.py,Agent,get_next_action,#Agent#Any#Any#,107

Before Change

            log.debug("limiting throttle")
            desired_throttle = desired_throttle * 0.3 - self.previous_action.throttle * 0.3
            desired_throttle = max(desired_throttle, 0.0)
        elif actual_speed < 0.7 * desired_speed or actual_speed < 25 * 100:
            log.debug("boosting throttle")
            desired_throttle = desired_throttle * 1.25 + self.previous_action.throttle * 0.5
            desired_throttle = min(desired_throttle, 1.25)
        log.debug("desired_steering %f", desired_steering)
        log.debug("desired_throttle %f", desired_throttle)
        smoothed_steering = 0.2 * self.previous_action.steering + 0.5 * desired_steering
        // desired_throttle = desired_throttle * 1.1

After Change

        // Network overfit on speed, plus it"s nice to be able to change it,
        // so we just ignore output speed of net
        desired_throttle = abs(target_speed / max(actual_speed, 1e-3))
        desired_throttle = min(max(desired_throttle, 0.), 1.)

        log.debug("desired_steering %f", desired_steering)
        log.debug("desired_throttle %f", desired_throttle)
        smoothed_steering = 0.2 * self.previous_action.steering + 0.5 * desired_steering

Instances