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hanruihua / rl_rvo_nav

The source code of the [RA-L] paper "Reinforcement Learned Distributed Multi-Robot Navigation with Reciprocal Velocity Obstacle Shaped Rewards"
MIT License
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SARL for multi-robot #18

Closed Huyen0402 closed 5 months ago

Huyen0402 commented 5 months ago

How do you implement SARL for multi-robot? Can you share source code, how to install and train for me?

hanruihua commented 5 months ago

Hi, SARL is implmented by this repository: https://github.com/vita-epfl/CrowdNav. We train this model and implement that in our environment. Each robot is considered as a dynamic obstalce. You can refer to that too.

Huyen0402 commented 5 months ago

But that’s single robot. Do you need to edit code with multi-robot?

Vào Th 2, 10 thg 6, 2024 lúc 10:36 Han @.***> đã viết:

Hi, SARL is implmented by this repository: https://github.com/vita-epfl/CrowdNav. We train this model and implement that in our environment. Each robot is considered as a dynamic obstalce. You can refer to that too.

— Reply to this email directly, view it on GitHub https://github.com/hanruihua/rl_rvo_nav/issues/18#issuecomment-2157138543, or unsubscribe https://github.com/notifications/unsubscribe-auth/AYAC67BTJBE3BDZOCETVB3LZGUNMPAVCNFSM6AAAAABJBMK2R2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNJXGEZTQNJUGM . You are receiving this because you authored the thread.Message ID: @.***>

hanruihua commented 5 months ago

Yeah, actually the only thing you need to do is to satisfy the model interface when apply the trained policy to each robot in our multi-robot systems.

Huyen0402 commented 5 months ago

I trained single robot model, but I don't know how to "satisfy the model interface". Can you help me? Thank you!

Vào Th 2, 10 thg 6, 2024 vào lúc 12:36 Han @.***> đã viết:

Yeah, actually the only thing you need to do is to satisfy the model interface when apply the trained policy to each robot in our multi-robot systems.

— Reply to this email directly, view it on GitHub https://github.com/hanruihua/rl_rvo_nav/issues/18#issuecomment-2157306657, or unsubscribe https://github.com/notifications/unsubscribe-auth/AYAC67HMHKOXNN43GEAGJQ3ZGU3ODAVCNFSM6AAAAABJBMK2R2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNJXGMYDMNRVG4 . You are receiving this because you authored the thread.Message ID: @.***>

hanruihua commented 5 months ago

May be these two functions may help you, you can refer to these and implement by yourself: image image