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Checkpoint 3

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This commit is contained in:
Johnny Fernandes
2026-05-10 12:46:14 +01:00
parent 1bb9415414
commit 2a6db038df
16 changed files with 305 additions and 662 deletions
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tools/run_webots.sh
+3 -3
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@@ -15,7 +15,7 @@
# tools/run_webots.sh 3 strombom # canonical baseline, 3 sheep
#
# Notes:
# * The RL mode loads training/runs/bc_pretrained/policy.zip by default.
# * The RL mode loads training/runs/bc_solo/policy.zip by default.
# Override via HERDING_POLICY_DIR=/path/to/run env var.
# * Conda env "tir" must be active (provides stable-baselines3 + torch).
@@ -46,12 +46,12 @@ echo "------------------------------------------------------------"
echo "World : $DST"
echo "Mode : $MODE"
echo "Sheep : $active active"
echo "Policy dir : ${HERDING_POLICY_DIR:-$ROOT/training/runs/bc_pretrained}"
echo "Policy dir : ${HERDING_POLICY_DIR:-$ROOT/training/runs/bc_solo}"
echo "------------------------------------------------------------"
# Webots strips HERDING_* env vars from controller subprocesses in some
# setups, so we also write a runtime config file the controller reads.
RESOLVED_POLICY_DIR="${HERDING_POLICY_DIR:-$ROOT/training/runs/bc_pretrained}"
RESOLVED_POLICY_DIR="${HERDING_POLICY_DIR:-$ROOT/training/runs/bc_solo}"
cat > "$ROOT/herding_runtime.cfg" <<EOF
HERDING_MODE=$MODE
HERDING_POLICY_DIR=$RESOLVED_POLICY_DIR