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Logging to out/highway_env_continuous_actions/experiment/run1/20250412_183733 |
Options: |
{'--agent': 'configs/HighwayEnv/agents/sb3/ddpg.json', |
'--checkpoint': 'out/highway_env_continuous_actions/stable_baselines3.ddpg.ddpg/2025-02-12_18_16_34/best_model.zip', |
'--deterministic-delay': '0', |
'--episodes': '500', |
'--help': False, |
'--output-dir': 'run1', |
'--pctrl-only': True, |
'--random-delay': None, |
'--sctrl': 'configs/HighwayEnv/controller/ttc_based.yaml', |
'--switch': None, |
'--test': False, |
'<environment>': 'configs/HighwayEnv/env_continuous_v2.json'} |
Environment configuration: |
{ |
"id": "highway-v0", |
"import_module": "highway_env", |
"show_trajectories": false, |
"action": { |
"type": "ContinuousAction" |
}, |
"collision_reward": -1, |
"right_lane_reward": 0.5, |
"high_speed_reward": 0.8, |
"reward_speed_range": [15, 30], |
"lane_change_reward": 0, |
"reverse_reward": -1, |
"name": "highway_env_continuous_actions" |
} |
Agent configuration: |
{ |
"__class__": "<class 'stable_baselines3.ddpg.DDPG'>", |
"policy": "MlpPolicy", |
"policy_kwargs": { |
"net_arch": [400, 300] |
}, |
"buffer_size": 200000, |
"learning_starts": 1000, |
"noise_type": "normal", |
"noise_std": 0.1, |
"batch_size": 64, |
"learning_rate": 5e-4, |
"gamma": 0.98, |
"verbose": 2 |
} |
Load checkpoint file from: out/highway_env_continuous_actions/stable_baselines3.ddpg.ddpg/2025-02-12_18_16_34/best_model.zip |
Secondary controller configurations: |
{'ctrl_1': {'speed_change_range': [0.5, 0.25, 0, -2.5, -5.0, -10.0, -15.0], 'ttc_threshold': 5.5, 'max_speed': 18.0, 'min_speed': 0.0}, 'ctrl_2': {'speed_change_range': [0.5, 0.25, 0, -2.5, -5.0, -10.0, -15.0], 'ttc_threshold': 4.5, 'max_speed': 18.0, 'min_speed': 0.0}} |
Deterministic delay time: 0.0 |
Switch configurations: |
[{'ctrl_id': 'ctrl_1', 'thresh': {'time_delay': 0.2, 'cross_lane_headway': 4.0}}] |
Switch selection probabilities: [1] |
---Run Switch--- |
[data] headway: 7.3586, cross_lane_headway: 3.702901, ttc: inf, on lane: True |
[data] headway: 5.5880, cross_lane_headway: 3.316280, ttc: inf, on lane: True |
[data] headway: 4.2891, cross_lane_headway: 2.789344, ttc: 67.1521, on lane: True |
[data] headway: 3.3347, cross_lane_headway: 2.278641, ttc: 14.8053, on lane: True |
[data] headway: 3.8672, cross_lane_headway: 2.754759, ttc: 85.6765, on lane: True |
[data] headway: 3.0139, cross_lane_headway: 2.271815, ttc: 45.8235, on lane: True |
[data] headway: 3.7833, cross_lane_headway: 2.904972, ttc: inf, on lane: True |
[data] headway: 3.2568, cross_lane_headway: 2.425260, ttc: 85.0559, on lane: True |
[data] headway: 4.2935, cross_lane_headway: 3.182250, ttc: inf, on lane: True |
[data] headway: 3.1271, cross_lane_headway: 2.648693, ttc: 28.1704, on lane: True |
[data] headway: 3.8952, cross_lane_headway: 3.384026, ttc: inf, on lane: True |
[data] headway: 3.7392, cross_lane_headway: 2.736676, ttc: 102.4640, on lane: True |
[data] headway: 3.9825, cross_lane_headway: 3.610371, ttc: inf, on lane: True |
[data] headway: 4.0264, cross_lane_headway: 2.923024, ttc: 115.2215, on lane: True |
[data] headway: 4.1457, cross_lane_headway: 3.884861, ttc: inf, on lane: True |
[data] headway: 4.3165, cross_lane_headway: 3.112546, ttc: 126.5210, on lane: True |
[data] headway: 4.2280, cross_lane_headway: 4.059190, ttc: inf, on lane: True |
[data] headway: 4.5222, cross_lane_headway: 3.235806, ttc: 120.9726, on lane: True |
[data] headway: 4.3718, cross_lane_headway: 4.269169, ttc: inf, on lane: True |
[data] headway: 4.7718, cross_lane_headway: 3.389499, ttc: 126.3684, on lane: True |
[data] headway: 4.4913, cross_lane_headway: 4.435500, ttc: inf, on lane: True |
[data] headway: 4.9787, cross_lane_headway: 3.509819, ttc: 124.5281, on lane: True |
[data] headway: 4.5866, cross_lane_headway: 4.563822, ttc: inf, on lane: True |
[data] headway: 5.1632, cross_lane_headway: 3.604724, ttc: 119.4645, on lane: True |
[data] headway: 6.8099, cross_lane_headway: 4.723326, ttc: inf, on lane: True |
[data] headway: 5.3916, cross_lane_headway: 3.712232, ttc: 123.0291, on lane: True |
[data] headway: 5.5931, cross_lane_headway: 3.789929, ttc: 171.9505, on lane: True |
[data] headway: 4.6207, cross_lane_headway: 3.060964, ttc: 31.5559, on lane: True |
[data] headway: 5.7031, cross_lane_headway: 3.691234, ttc: 313.1780, on lane: True |
[data] headway: 4.6765, cross_lane_headway: 2.963563, ttc: 37.6597, on lane: True |
[data] headway: 5.8395, cross_lane_headway: 3.622049, ttc: 1028.9497, on lane: True |
[data] headway: 4.7880, cross_lane_headway: 2.915527, ttc: 47.2927, on lane: True |
[data] headway: 6.0503, cross_lane_headway: 3.616211, ttc: inf, on lane: True |
[data] headway: 4.9350, cross_lane_headway: 2.904600, ttc: 60.9852, on lane: True |
[data] headway: 6.2983, cross_lane_headway: 3.650136, ttc: inf, on lane: True |
[data] headway: 5.1042, cross_lane_headway: 2.919934, ttc: 78.9700, on lane: True |
[data] headway: 6.5769, cross_lane_headway: 3.710400, ttc: inf, on lane: True |
[data] headway: 9.7756, cross_lane_headway: 3.264110, ttc: inf, on lane: True |
[data] headway: 8.0852, cross_lane_headway: 3.232145, ttc: inf, on lane: True |
[data] headway: 6.4986, cross_lane_headway: 2.845478, ttc: inf, on lane: True |
[data] headway: 5.2934, cross_lane_headway: 2.395568, ttc: 97.1743, on lane: True |
[data] headway: 7.0353, cross_lane_headway: 3.278655, ttc: inf, on lane: True |
[data] headway: 5.6353, cross_lane_headway: 2.708018, ttc: 141.1476, on lane: True |
[data] headway: 5.1563, cross_lane_headway: 2.474541, ttc: 63.6996, on lane: True |
[data] headway: 5.6380, cross_lane_headway: 2.617335, ttc: 184.3976, on lane: True |
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