Deep Learning Planner

Install

git clone https://github.com/llliuxiao/isaac_sim.git

Dependency

• python
• isaac sim
• ros1
• stable-baseline3
• pytorch
• gymnasium
• einops
• argparse
• beartype
• isaac_sim

Structure

Video Demo

Usage

imitation learning training

python scripts/transformer_train.py

deep reinforcement learning training

roslaunch isaac_sim simple_navigation map:=$scene

$ISAAC_SIM_PYTHON scripts/drl_train.py --scene $scene

real-robot-deploy

the imitation mode or reinforcement mode could be adjusted with shell args, sim or real robot as well

python scripts/deploy/transformer_planner.py

if deploy to agv234, mapping lidar point cloud from high resolution to low resolution in the simulator is necessary

python scripts/real_robot/transfer_lidar.py

evaluation

not totally implemented yet, only a basic framework without fully test

Reference

• DRL-VO
• RT1
• From Perception to Decision: A Data-driven Approach to End-to-endMotion Planning for Autonomous Ground Robots