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training_initialize

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mengze3
2025-08-07 11:13:12 +08:00
parent b152f1d486
commit ba6d1db0d3
83 changed files with 64436 additions and 37 deletions
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53
deepPathPlan/PathNet/course.py Executable file
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import torch
def read_wei_course(epoch):
if(epoch >=0):
wei_anchors = torch.tensor(1.0)
wei_arc = torch.tensor(0.0)
wei_uni = torch.tensor(0.0)
wei_pos = torch.tensor(5.0)
wei_hol = torch.tensor(0.0)
wei_rot = torch.tensor(5.0)
wei_cur = torch.tensor(0.0)
wei_safety = torch.tensor(0.0)
wei_rsm = torch.tensor(0.0)
if(epoch >=1):
wei_anchors = torch.tensor(1.0)
wei_arc = torch.tensor(0.05)
wei_uni = torch.tensor(10.0)
wei_pos = torch.tensor(5.0)
wei_hol = torch.tensor(10.0)
wei_rot = torch.tensor(5.0)
wei_cur = torch.tensor(0.0)
wei_safety = torch.tensor(0.0)
wei_rsm = torch.tensor(0.0)
if(epoch >=2):
wei_anchors = torch.tensor(1.0)
wei_arc = torch.tensor(0.5)
wei_uni = torch.tensor(100.0)
wei_pos = torch.tensor(5.0)
wei_hol = torch.tensor(100.0)
wei_rot = torch.tensor(5.0)
wei_cur = torch.tensor(5.0)
wei_safety = torch.tensor(0.0)
wei_rsm = torch.tensor(0.5)
if(epoch >=3):
wei_anchors = torch.tensor(1.0)
wei_arc = torch.tensor(0.5)
wei_uni = torch.tensor(100.0)
wei_pos = torch.tensor(5.0)
wei_hol = torch.tensor(200.0)
wei_rot = torch.tensor(5.0)
wei_cur = torch.tensor(500.0)
wei_safety = torch.tensor(0.0)
wei_rsm = torch.tensor(0.25)
if(epoch >=4):
wei_anchors = torch.tensor(1.0)
wei_arc = torch.tensor(0.5)
wei_uni = torch.tensor(100.0)
wei_pos = torch.tensor(5.0)
wei_hol = torch.tensor(500.0)
wei_rot = torch.tensor(5.0)
wei_cur = torch.tensor(500.0)
wei_safety = torch.tensor(500.0)
wei_rsm = torch.tensor(0.5)
return wei_anchors, wei_arc, wei_uni, wei_pos, wei_hol, wei_rot, wei_cur, wei_safety, wei_rsm