CARLA 0.9.5 - OpenAI Gym Implementation

Main Environment:

gym_carla/envs/carla_env.py

API-Client Implementation:

gym_carla/envs/client.py

RoadRunner Map Files:

RoadRunnerFiles/

Default GYM Baselines:

gym_baselines/

Tested with:

• CARLA 0.9.5
• UE4.22.3
• OpenAI GYM 0.13.0
• Python 3.5

Installation

cd gym-carla
pip install -e .

Add the following lines to ~/.bashrc:

export UE4_ROOT=~/UnrealEngine_4.22

Usage

For training:

python3 -m baselines.run --alg=ddpg --env=CarlaEnv-v0 --num_timesteps=1e9 --res=80x80 --save_path=./models/carla_10M_ddpg

For running trained model:

python3 -m baselines.run --alg=ddpg --env=CarlaEnv-v0 --num_timesteps=0 --res=80x80 --load_path=./models/carla_10M_ddpg --play