train_pybullet_racecar.py works, self-driving car drives towards the ball using OpenAI baselines DQN :-)

See https://www.youtube.com/watch?v=DZ5Px-ocelw for video and how-to-install.

examples/pybullet/gym/train_pybullet_racecar.py

@@ -9,23 +9,21 @@ import datetime
 
 def callback(lcl, glb):
     # stop training if reward exceeds 199
-    is_solved = lcl['t'] > 100 and sum(lcl['episode_rewards'][-101:-1]) / 100 >= 199
-    #uniq_filename = "racecar_model" + str(datetime.datetime.now().date()) + '_' + str(datetime.datetime.now().time()).replace(':', '.')
-    #print("uniq_filename=")
-    #print(uniq_filename)
-    #act.save(uniq_filename)
+    total = sum(lcl['episode_rewards'][-101:-1]) / 100
+    totalt = lcl['t']
+    is_solved = totalt > 2000 and total >= -50
     return is_solved
 
 
 def main():
   
-    env = RacecarGymEnv(render=False)
+    env = RacecarGymEnv(renders=False)
     model = deepq.models.mlp([64])
     act = deepq.learn(
         env,
         q_func=model,
         lr=1e-3,
-        max_timesteps=10000000,
+        max_timesteps=10000,
         buffer_size=50000,
         exploration_fraction=0.1,
         exploration_final_eps=0.02,