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gym-collision-avoidance

Agents spelling ``CADRL''

This is the code associated with the following publications:

Journal Version: M. Everett, Y. Chen, and J. P. How, "Collision Avoidance in Pedestrian-Rich Environments with Deep Reinforcement Learning", in review, Link to Paper

Conference Version: M. Everett, Y. Chen, and J. P. How, "Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learning", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. Link to Paper, Link to Video

This repo also contains the trained policy for the SA-CADRL paper (referred to as CADRL here) from the proceeding paper: Y. Chen, M. Everett, M. Liu, and J. P. How. “Socially Aware Motion Planning with Deep Reinforcement Learning.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, BC, Canada, Sept. 2017. Link to Paper

About the Code

Please see the documentation!

If you find this code useful, please consider citing:

@inproceedings{Everett18_IROS,
  address = {Madrid, Spain},
  author = {Everett, Michael and Chen, Yu Fan and How, Jonathan P.},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  date-modified = {2018-10-03 06:18:08 -0400},
  month = sep,
  title = {Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learning},
  year = {2018},
  url = {https://arxiv.org/pdf/1805.01956.pdf},
  bdsk-url-1 = {https://arxiv.org/pdf/1805.01956.pdf}
}