search

reiniscimurs / GDAE

A goal-driven autonomous exploration through deep reinforcement learning (ICRA 2022) system that combines reactive and planned robot navigation in unknown environments
114 stars 15 forks source link

How did the robot know the global goal's location、 #6

Open Trevor233 opened 2 years ago

Trevor233 commented 2 years ago

Hi , I've read your paper and I 'm confused about how the robot know the location of global goal. The environment is unknow and the global goal is unseen so how does the robot identify the position of the global target?

reiniscimurs commented 2 years ago

Hi,

In paper, section IV.C you will see the given coordinates for the experiments. Since it is a goal-driven approach, the goal needs to be specified beforehand. So we manually specify the goal that we want to reach as a set of coordinates in the robots starting frame and then keep track of it throughout the exploration. In the code it can be seen here: https://github.com/reiniscimurs/GDAE/blob/fc793eda8de23bed98ba3acd32908843c535510f/Code/GDAM_args.py#L47

Trevor233 commented 2 years ago

thanks for your instant reply! Really appreciate it !