mod clipping

rc_car/policy_controller.py

@@ -86,7 +86,7 @@ class RLPolicyController(BasePolicyController):
             action = self.agent.get_action(obs)
 
             self.speed.value = alpha * self.speed.value + (1 - alpha) * np.clip(
-                action[0], -0.2, 0.7
+                action[0], -1.0, 1.0
             )
             self.steer.value = np.clip(action[1] * 1.3, -1.0, 1.0)
 
@@ -147,7 +147,7 @@ class AttentionPolicyController(BasePolicyController):
             obs = self.cam.get_frame()
             action = self.agent.get_output(obs)
             self.speed.value = self.speed.value * alpha + (1 - alpha) * np.clip(
-                action[0], -0.6, 0.7
+                action[0], -1.0, 1.0
             )
             self.steer.value = np.clip(action[1] * 1.0, -1.0, 1.0)
             print("speed action:", action[0])