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5 find the optimal trajectories for a bunch of tracks #14

Merged
merged 50 commits into from
May 21, 2023
Merged

5 find the optimal trajectories for a bunch of tracks #14

merged 50 commits into from
May 21, 2023

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Armandpl
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  • created gym env to simulate the rc car and the track
  • wrote code to train rl agent
  • wrote code to sample system trajectories using the agent

some light refactoring to track data lineage will need to be done #13

Armandpl added 30 commits May 2, 2023 15:21
@Armandpl
initial commit
a608e8e
@Armandpl
add useful links
78c514d
@Armandpl
update dependencies
7d864c6
@Armandpl
add pre-commit
fdd70af
@Armandpl
add first track
4c1897f
@Armandpl
first version of the env
5024569
@Armandpl
prototype track
0004173
@Armandpl
rename
12e003f
@Armandpl
update lock
e510abd
@Armandpl
add history wrapper
3388aa2
@Armandpl
measure car params
7e1edba
@Armandpl
random spawn and distance to centerline
f43cca4
@Armandpl
script to make traj
3562c3f
@Armandpl
add ressources
86fb95e
@Armandpl
update dependencies
abda66a
@Armandpl
make random init optional
4a31922
@Armandpl
convert track to txt to load into blender
1702932
@Armandpl
ignore macos files, ignore all under data except dxf
a48cac6
@Armandpl
add new package for traj pred
f8e28e8
@Armandpl
add dependencies
c2096c8
@Armandpl
save clipped action
a133b13
@Armandpl
look at label distrib
006b664
@Armandpl
update gitignore
50a8afc
@Armandpl
add blender script
b2e0972
@Armandpl
first pass at training code
f4cb0e8
@Armandpl
add arduino code
85654b7
@Armandpl
add speed to obs, render manually, make the whole car spawn on the track
896464c
@Armandpl
remove unecessary dependencies
fd3c1f6
@Armandpl
put the right number of ticks
9b09da0
@Armandpl
split into bicycle and additionnal
207733d
Armandpl added 20 commits May 16, 2023 16:27
@Armandpl
first version of training script
9f29b3e
@Armandpl
track leading and falling edges for higer res
089947e
@Armandpl
update gitignore
ab82c37
@Armandpl
clip action; fix center of mass
9f5c88f
@Armandpl
fix action space, measure total progress, fix delta progress error wh…
9ba3386 
…en crossing line
@Armandpl
update wrappers to match gymnasium requirements
edfc0a9
@Armandpl
working training script
2fcfac8
@Armandpl
script to viz agent
d485d74
@Armandpl
fix dxfs, add tracks, load polyline, scale based on track bounds
c1399b6
@Armandpl
use data dir to load dxfs and car params
61ddde6
@Armandpl
add some dependencies for sb3 training
9ed6a1d
@Armandpl
compute scale based on car bounds
2e659a7
@Armandpl
model max accel and steering rate
6213a18
@Armandpl
random init speed, log videos + lap time, flatten obs space, make act…
bb3df47 
…ion space symmetric
@Armandpl
make env from train
01eb4f2
@Armandpl
pass in render mode
32bfded
@Armandpl
denormalize action outside step
1990f0c
@Armandpl
code to generate traj from trained agent
28c5406
@Armandpl
measure max accel
c2acef6
@Armandpl
plot new distrib
e2284a7
@Armandpl Armandpl linked an issue May 21, 2023 that may be closed by this pull request
find the optimal trajectories for a bunch of tracks #5
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@Armandpl Armandpl merged commit 24daedc into main May 21, 2023
@Armandpl Armandpl deleted the 5-find-the-optimal-trajectories-for-a-bunch-of-tracks branch May 21, 2023 13:25
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find the optimal trajectories for a bunch of tracks
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@Armandpl