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hyperparams.yaml
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SimpleCar:
gcbf:
alpha: 1.0
eps: 0.02
inner_iter: 10
loss_action_coef: 0.05
loss_unsafe_coef: 1.0
loss_safe_coef: 1.0
loss_h_dot_coef: 0.5
macbf:
alpha: 1.0
eps: 0.02
inner_iter: 10
loss_action_coef: 0.0001
loss_unsafe_coef: 1.0
loss_safe_coef: 1.0
loss_h_dot_coef: 1.0
SimpleDrone:
gcbf:
alpha: 1.0
eps: 0.02
inner_iter: 10
loss_action_coef: 0.05
loss_unsafe_coef: 1.0
loss_safe_coef: 1.0
loss_h_dot_coef: 0.5
macbf:
alpha: 1.0
eps: 0.02
inner_iter: 10
loss_action_coef: 0.01
loss_unsafe_coef: 1.0
loss_safe_coef: 1.0
loss_h_dot_coef: 1.0
DubinsCar:
gcbf:
alpha: 1.0
eps: 0.02
inner_iter: 10
loss_action_coef: 0.0001
loss_unsafe_coef: 1.0
loss_safe_coef: 1.0
loss_h_dot_coef: 0.2
macbf:
alpha: 1.0
eps: 0.02
inner_iter: 10
loss_action_coef: 0.0005
loss_unsafe_coef: 1.0
loss_safe_coef: 1.0
loss_h_dot_coef: 1.0