Skip to content

Argument Parsing for Genetic Algorithm #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
pburer8 wants to merge 5 commits into
base: master
Choose a base branch
from
Open

Argument Parsing for Genetic Algorithm #8

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
ac4693d
Added the ability for the GA algorithm to take alternate configuratio…
pburer8 Aug 26, 2025
89c6809
added the ability to alter the map via test scenario files
pburer8 Sep 1, 2025
660e833
alterened spawn.yaml to be compliant
pburer8 Sep 2, 2025
1f8e5a2
changed how maps are chosen to command-line rather than spawn yaml
pburer8 Sep 2, 2025
f247d93
Revert "changed how maps are chosen to command-line rather than spawn…
pburer8 Sep 2, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 11 additions & 3 deletions carla_sim/GA.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
from collections import namedtuple
import yaml
from datetime import datetime
import argparse

def get_similarity_between_npc_behaviors(b1, b2):
n = min(len(b1), len(b2))
Expand Down Expand Up @@ -219,16 +220,23 @@ def genetic_fuzzer(spawn_config, weather_params,
return best_ind, best_fit

if __name__ == '__main__':
ga_cfg = tools.load_ga_config('./parameters/ga.yaml')
parser = argparse.ArgumentParser(prog = 'GA.py', description='AV-Fuzzer Genetic Algorithm')
parser.add_argument('-g', '--genetics', default='parameters/GA.yaml', type=str, metavar='path/to/genetics.yaml')
parser.add_argument('-w', '--weather', default='parameters/weather.yaml', type=str, metavar='path/to/weather.yaml')
parser.add_argument('-s', '--spawn', default='parameters/spawn.yaml', type=str, metavar='path/to/spawn.yaml')

args = parser.parse_args()

ga_cfg = tools.load_ga_config(args.genetics)

POP_SIZE = ga_cfg['pop_size']
MAX_GENS = ga_cfg['max_gens']
CROSSOVER_RATE = ga_cfg['crossover_rate']
MUTATION_RATE = ga_cfg['mutation_rate']
TOURNAMENT_K = ga_cfg['tournament_k']

weather_config = tools.load_weather_yaml('./parameters/weather.yaml')
spawn_config = tools.load_spawn_yaml('./parameters/spawn.yaml')
weather_config = tools.load_weather_yaml(args.weather)
spawn_config = tools.load_spawn_yaml(args.spawn)


best_ind, best_fit = genetic_fuzzer(
Expand Down
3 changes: 3 additions & 0 deletions carla_sim/parameters/spawn.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,6 @@
map:
"Town03"

ev:
start: [30.874001, 7.542412, 0.3]
end: [205.874001, 8.542412, 0.3]
Expand Down
2 changes: 1 addition & 1 deletion carla_sim/simulation.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ def run_simulation(spawn_config, weather_params,

client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
client.load_world('Town03')
client.load_world(spawn_config['map'])
world = client.get_world()
tools.set_weather(world, weather_params)

Expand Down