Update CNN2D

MichaelBosello · Jul 31, 2020 · a733247 · a733247
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/EXPERIMENT_SETTING.md b/EXPERIMENT_SETTING.md
@@ -22,7 +22,7 @@ ADD_LIDAR_DISTANCE_REWARD = True
 ## CNN2D on PC (simulator)
 f1tenth-rl/rl_car_driver.py
 ```
-epsilon-decay = 0.99992
+epsilon-decay = 0.999923
 slowdown-cycle = False
 lidar-to-image = True
 ```

diff --git a/f1tenth-rl/dqn.py b/f1tenth-rl/dqn.py
@@ -77,9 +77,9 @@ def __build_cnn1D(self):
     def __build_cnn2D(self):
         inputs = tf.keras.Input(shape=(self.image_width, self.image_height, self.history_length))
         x = layers.Lambda(lambda layer: layer / 255)(inputs)
-        x = layers.Conv2D(filters=16, kernel_size=(4, 4), strides=(2, 2), activation='relu', kernel_initializer=initializers.VarianceScaling(scale=2.))(x)
+        x = layers.Conv2D(filters=10, kernel_size=(4, 4), strides=(2, 2), activation='relu', kernel_initializer=initializers.VarianceScaling(scale=2.))(x)
         x = layers.MaxPool2D((2,2))(x)
-        x = layers.Conv2D(filters=8, kernel_size=(2, 2), strides=(1, 1), activation='relu', kernel_initializer=initializers.VarianceScaling(scale=2.))(x)
+        x = layers.Conv2D(filters=5, kernel_size=(2, 2), strides=(1, 1), activation='relu', kernel_initializer=initializers.VarianceScaling(scale=2.))(x)
         x = layers.MaxPool2D((2,2))(x)
         x = layers.Flatten()(x)
         x = layers.Dense(64, activation='relu', kernel_initializer=initializers.VarianceScaling(scale=2.))(x)