search

vita-epfl / CrowdNav

[ICRA19] Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning
MIT License
583 stars 168 forks source link

Question about experiment #11

Closed tcjcxy30 closed 5 years ago

tcjcxy30 commented 5 years ago

Hi: The segway is a differential drive robot, but your paper assumes the robot is holonomic? So what is the difference between these two kinematic modes in your method?

ChanganVR commented 5 years ago

In the paper, we experimented on holonomic mode. When we deployed our algorithm on the robot, we found the kinematics is different. So we added another unicycle kinematic mode in the library. So the actual policy we deployed was trained under similar kinematic to the robot. You can switch kinematic mode by setting kinematics = holonomic in policy.config.

JiayunjieJYJ commented 1 year ago

In the paper, we experimented on holonomic mode. When we deployed our algorithm on the robot, we found the kinematics is different. So we added another unicycle kinematic mode in the library. So the actual policy we deployed was trained under similar kinematic to the robot. You can switch kinematic mode by setting kinematics = holonomic in policy.config.

How to run a unicycle kinematic mode ORCA in your code? Thanks!

ChanganVR commented 1 year ago

@JiayunjieJYJ You can't. ORCA has a fixed holonomic setting. You can change the setting for the robot in the config file though.

JiayunjieJYJ commented 1 year ago

@JiayunjieJYJ You can't. ORCA has a fixed holonomic setting. You can change the setting for the robot in the config file though. What will be the impact of changing the configuration file to unicycle kinematic mode? Will the learning-based navigation method be changed to a unicycle kinematic mode, but ORCA-based baselines will not be affected?

ChanganVR commented 1 year ago

What will be the impact of changing the configuration file to unicycle kinematic mode? Will the learning-based navigation method be changed to a unicycle kinematic mode, but ORCA-based baselines will not be affected?

yes, that is true