无人驾驶原理与实践书籍中代码-part1
无人驾驶原理与实践书籍中代码-part1
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 779336 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masteractormodel.h5
文件 2682 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masteractormodel.json
文件 2606 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterActorNetwork.py
文件 206 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterautostart.sh
文件 2232192 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-mastercriticmodel.h5
文件 2916 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-mastercriticmodel.json
文件 2438 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterCriticNetwork.py
文件 5962 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterddpg.py
文件 12208354 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterfast.gif
文件 11140 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-mastergym_torcs.py
文件 159 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterOU.py
文件 614 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterREADME.md
文件 1119 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterReplayBuffer.py
文件 23823 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-mastersnakeoil3_gym.py
文件 3062 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterCMakeLists.txt
文件 437 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterincludehusky_high_level_controllerhusky_controller.hpp
文件 471 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterlaunchhigh_controller.launch
文件 2808 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterpackage.xml
文件 129 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterREADME.md
文件 1059 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-mastersrchusky_controller.cpp
文件 403 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-mastersrchusky_high_level_controller_node.cpp
文件 30 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.idea.name
文件 1775 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.ideacodestylesProject.xml
文件 137 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.ideamisc.xml
文件 276 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.ideamodules.xml
文件 97 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.ideaNDT_PCL_demo.iml
文件 13412 2018-07-31 19:18 book_code_01chapter_3NDT_PCL_demo.ideaworkspace.xml
文件 3620143 2018-07-31 17:39 book_code_01chapter_3NDT_PCL_demouildcloud3.pcd
文件 47246 2018-07-31 17:33 book_code_01chapter_3NDT_PCL_demouildCMakeCache.txt
文件 2002 2018-07-31 17:33 book_code_01chapter_3NDT_PCL_demouildCMakeFiles3.5.1CMakeCCompiler.cmake
............此处省略94个文件信息
import numpy as np
import math
from keras.initializations import normal identity
from keras.models import model_from_json
from keras.models import Sequential Model
from keras.engine.training import collect_trainable_weights
from keras.layers import Dense Flatten Input merge Lambda
from keras.optimizers import Adam
import tensorflow as tf
import keras.backend as K
HIDDEN1_UNITS = 300
HIDDEN2_UNITS = 600
class ActorNetwork(object):
def __init__(self sess state_size action_size BATCH_SIZE TAU LEARNING_RATE):
self.sess = sess
self.BATCH_SIZE = BATCH_SIZE
self.TAU = TAU
self.LEARNING_RATE = LEARNING_RATE
K.set_session(sess)
#Now create the model
self.model self.weights self.state = self.create_actor_network(state_size action_size)
self.target_model self.target_weights self.target_state = self.create_actor_network(state_size action_size)
self.action_gradient = tf.placeholder(tf.float32[None action_size])
self.params_grad = tf.gradients(self.model.output self.weights -self.action_gradient)
grads = zip(self.params_grad self.weights)
self.optimize = tf.train.AdamOptimizer(LEARNING_RATE).apply_gradients(grads)
self.sess.run(tf.initialize_all_variables())
def train(self states action_grads):
self.sess.run(self.optimize feed_dict={
self.state: states
self.action_gradient: action_grads
})
def target_train(self):
actor_weights = self.model.get_weights()
actor_target_weights = self.target_model.get_weights()
for i in xrange(len(actor_weights)):
actor_target_weights[i] = self.TAU * actor_weights[i] + (1 - self.TAU)* actor_target_weights[i]
self.target_model.set_weights(actor_target_weights)
def create_actor_network(self state_sizeaction_dim):
print(“Now we build the model“)
S = Input(shape=[state_size])
h0 = Dense(HIDDEN1_UNITS activation=‘relu‘)(S)
h1 = Dense(HIDDEN2_UNITS activation=‘relu‘)(h0)
Steering = Dense(1activation=‘tanh‘init=lambda shape name: normal(shape scale=1e-4 name=name))(h1)
Acceleration = Dense(1activation=‘sigmoid‘init=lambda shape name: normal(shape scale=1e-4 name=name))(h1)
Brake = Dense(1activation=‘sigmoid‘init=lambda shape name: normal(shape scale=1e-4 name=name))(h1)
V = merge([SteeringAccelerationBrake]mode=‘concat‘)
model = Model(input=Soutput=V)
return model model.trainable_weights S
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 779336 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masteractormodel.h5
文件 2682 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masteractormodel.json
文件 2606 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterActorNetwork.py
文件 206 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterautostart.sh
文件 2232192 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-mastercriticmodel.h5
文件 2916 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-mastercriticmodel.json
文件 2438 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterCriticNetwork.py
文件 5962 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterddpg.py
文件 12208354 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterfast.gif
文件 11140 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-mastergym_torcs.py
文件 159 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterOU.py
文件 614 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterREADME.md
文件 1119 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-masterReplayBuffer.py
文件 23823 2016-10-11 22:25 book_code_01chapter_10DDPG-Keras-Torcs-mastersnakeoil3_gym.py
文件 3062 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterCMakeLists.txt
文件 437 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterincludehusky_high_level_controllerhusky_controller.hpp
文件 471 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterlaunchhigh_controller.launch
文件 2808 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterpackage.xm
文件 129 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-masterREADME.md
文件 1059 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-mastersrchusky_controller.cpp
文件 403 2018-04-11 14:19 book_code_01chapter_2HuskyPractice-mastersrchusky_high_level_controller_node.cpp
文件 30 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.idea.name
文件 1775 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.ideacodest
文件 137 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.ideamisc.xm
文件 276 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.ideamodules.xm
文件 97 2018-07-31 17:01 book_code_01chapter_3NDT_PCL_demo.ideaNDT_PCL_demo.iml
文件 13412 2018-07-31 19:18 book_code_01chapter_3NDT_PCL_demo.ideaworkspace.xm
文件 3620143 2018-07-31 17:39 book_code_01chapter_3NDT_PCL_demouildcloud3.pcd
文件 47246 2018-07-31 17:33 book_code_01chapter_3NDT_PCL_demouildCMakeCache.txt
文件 2002 2018-07-31 17:33 book_code_01chapter_3NDT_PCL_demouildCMakeFiles3.5.1CMakeCCompiler.cmake
............此处省略94个文件信息
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