Comments (3)
Hi SHITIANYU,
The agent in PID controller script does not avoid obstacles, actually. It just tries to follow the lane (a.k.a. Lane Following).
-
In Line#71:
obs, reward, done, info = env.step(action)
we send the action that the agent should take in the environment. What's thataction
? It is a list of size 2 (2 numbers) which refers to the left wheel velocity and the right wheel velocity. -
In Line#69:
action = wrapper.convert([speed, steering])
we get theaction
, which is converted from the list[speed, steering]
to[leftWheelVelocity, rightWheelVelocity]
. Why is that? Because theSimulator
accepts only the wheel velocities as action. -
In Line#67:
steering = k_p*distance_to_road_center + k_d*angle_from_straight_in_rads + k_i * sum(prev_angles)
we see howsteering
is calculated with respect to PID parameters. These parameters are tuned manually, in other words they're chosen manually after trying bunch of different combinations.
All in all, the script is just trying to stay in the lane and to follow it, without avoiding obstacles.
from challenge-aido_rl-il.
Thanks for your reply! Yes, this is as same as my understanding, is it in the simulator, they implement the obstacle avoidance function? (I saw in the simulation it could avoid static obstacles) And the above script is trying to stay in the lane and to follow it, why the robot can move forward rather than just stand still in the middle of the lane?
from challenge-aido_rl-il.
I guess they don't do obstacle avoidance, they just check if the agent collided with an object or not (see the function proximity penalty
at Line#1206). In case the agent collides with an object they apply a penalty to the reward, see function compute_reward
at Line#1419
Maybe they have another script for doing obstacle avoidance, not that I know of. In that regard, you can contact the creators of the simulator on their Slack channel or by their GitHub repo
from challenge-aido_rl-il.
Related Issues (4)
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from challenge-aido_rl-il.