# robot_nav_irsim_ppo

**Repository Path**: katly/robot_nav_irsim_ppo

## Basic Information

- **Project Name**: robot_nav_irsim_ppo
- **Description**: 私有仓库，单独维护。
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-03-04
- **Last Updated**: 2025-03-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

**DRL Robot navigation in IR-SIM**

**说明**

本项目只选择了[开源项目](https://github.com/reiniscimurs/DRL-robot-navigation-IR-SIM.git)中PPO和SAC算法的仿真实现，如需查看更多算法，请进入开源仓库中查看。

Deep Reinforcement Learning algorithm implementation for simulated robot navigation in IR-SIM. Using 2D laser sensor data
and information about the goal point a robot learns to navigate to a specified point in the environment.

![Example](./out.gif)

**Installation**

* Package versioning is managed with poetry \
`pip install poetry`
* Clone the repository \
`git clone https://github.com/reiniscimurs/DRL-robot-navigation.git`
* Navigate to the cloned location and install using poetry \
`poetry install`

**Training the model**

* Run the training by executing the train.py file \
`poetry run python robot_nav/train.py`

* To open tensorbord, in a new terminal execute \
`tensorboard --logdir runs`

**使用**

在服务器端使用```ir-sim```时，由于没有可视化窗口，可以把```/root/miniconda3/lib/python3.12/site-packages/irsim/env/env_base.py```文件中的```matplotlib.use('TkAgg')```设置为```matplotlib.use('Agg')```,同时在运行程序时使用命令行```poetry run python robot_nav/train.py --headless```参数。

**Sources**

| Package/Model |                                           Description                                           |                    Model                           Source | 
|:--------------|:-----------------------------------------------------------------------------------------------:|----------------------------------------------------------:| 
| IR-SIM        |                                  Light-weight robot simulator                                   |                       https://github.com/hanruihua/ir-sim | 
| TD3           |                      Twin Delayed Deep Deterministic Policy Gradient model                      | https://github.com/reiniscimurs/DRL-Robot-Navigation-ROS2 | 
| SAC           |                                     Soft Actor-Critic model                                     |                https://github.com/denisyarats/pytorch_sac | 
| PPO           |                               Proximal Policy Optimization model                                |            https://github.com/nikhilbarhate99/PPO-PyTorch | 
| DDPG          |                            Deep Deterministic Policy Gradient model                             |                                          Updated from TD3 | 
| CNNTD3        |                          TD3 model with 1D CNN encoding of laser state                          |                                                         - |
| RCPG          | Recurrent Convolution Policy Gradient - adding recurrence layers (lstm/gru/rnn) to CNNTD3 model |                                                         - |