When to Replan? An Adaptive Replanning Strategy for Autonomous Navigation using Deep Reinforcement Learning
This repository contains the code for the paper "When to Replan? An Adaptive Replanning Strategy for Autonomous Navigation using Deep Reinforcement Learning", ICRA 2024.[project page] [paper]
- Ubuntu 20.04
- Python 3.8.10
# create venv
cd when2replan
python3 -m venv .venv
source .venv/bin/activate
# pytorch-cpu
pip3 install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cpu
# stable baselines3 bleeding edge version: commit tag https://github.com/DLR-RM/stable-baselines3/commit/0532a5719c2bb46fd96b61a7e03dd8cb180c00fc
pip3 install wheel
pip3 install git+https://github.com/DLR-RM/stable-baselines3@0532a5719c2bb46fd96b61a7e03dd8cb180c00fc
# install other dependencies
cd when2replan
pip3 install -e .
Run setting file is here
cd scripts
python3 run.py\
run.model_dir="../trained_model"\
run.model_name="DijkstraxDWA/16pillar.zip"\
run.log_save_dir="run/DijkstraxDWA/16pillar"\
run.navigation_scenarios="config/scenario/sixteen_pillar/random.yaml"\
run.view_animation=False\
run.seeds=[37]\
navigation.common.global_planner="Dijkstra"\
navigation.common.local_planner="DWA"
You can visualize using pygame
cd scripts
python3 pygame_visualizer.py main ../log/run/latest/[method-name]_data.pkl
Training setting file is here
cd scripts
python3 train.py
tensorboard
tensorboard --logdir ./log/tensorboard
mlflow
cd scripts
mlflow ui
Evaluation setting file is here
cd scripts
python3 eval.py
You can check the result by mlflow
cd scripts
mlflow ui
Or, logged the all results in ./log
dir
@misc{honda2024replan,
title={When to Replan? An Adaptive Replanning Strategy for Autonomous Navigation using Deep Reinforcement Learning},
author={Kohei Honda and Ryo Yonetani and Mai Nishimura and Tadashi Kozuno},
year={2024},
eprint={2304.12046},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
All maps are generated by the script in arena-rosnav: https://github.com/ignc-research/arena-rosnav/blob/local_planner_subgoalmode/simulator_setup/maps/map_creator.py