The previous repository to recreate the ICAR results is found in the icar branch. For the Learning to Recharge results, the old repository is found in the learning_to_recharge branch.
This repository contains the implementation of
the Equivariant Ensembles and Regularization for Reinforcement Learning in Map-based Path Planning
based on the power-constrained coverage path planning (CPP) with recharge problem.
This repository contains the implementation of the Equivariant Ensembles and Regularization implementation for the CPP
problem. An animation of the Ensemble agent is shown in the following gif.
Additionally, it utilizes map-based observations, preprocessed as global and local maps, action masking to ensure safety, discount factor scheduling to optimize the long-horizon problem, and position history observations to avoid state loops. The agents are stored in a submodule and can be pulled by
git submodule init
git submodule update --remote
For questions, please contact Mirco Theile via email mirco.theile@tum.de.
tensorflow==2.11.1
opencv-python==4.7.0.68
scikit-image==0.21.0
gymnasium==0.27.0
pygame==2.5.1
tqdm~=4.64.1
seaborn==0.12.2
dataclasses-json==0.5.7
einops~=0.6.1
numpy==1.26.1
Developed and tested only on Linux and MacOS. Tested with python 3.10.
With this repository PPO agents can be trained to solve the power-constrained CPP problem with recharge. The agents can make use of equivariant ensembles and regularization. Additionally, newly trained and example agents can be evaluated with a visualization.
python train.py [-h] [--gpu] [--gpu_id GPU_ID] [--id ID] [--generate] [--verbose] [--params [PARAMS ...]] config
positional arguments:
config Path to config file
options:
-h, --help show this help message and exit
--gpu Activates usage of GPU
--gpu_id GPU_ID Activates usage of GPU on specific GPU id
--id ID Gives the log files a specific name, else config name
--generate Generate config file for parameter class
--verbose Prints the network summary at the start
--params [PARAMS ...]
Override parameters as: path/to/param1 value1 path/to/param2 value2 ...
- Baseline
python train.py --gpu config/baseline.json - Ensemble
python train.py --gpu config/ens.json - Regularization
python train.py --gpu config/reg.json - Ensemble + Regularization
python train.py --gpu config/ens_reg.json - Augmentation
python train.py --gpu config/rot_aug.json
python evaluate.py [-h] [-a [A ...]] [-d] [-r [R ...]] [-n N] [--scenario SCENARIO] [--scenarios SCENARIOS] [--all_maps] [--heuristic] [--stochastic] [--maps_only] [--gym_only]
[--gpu] [--gpu_id GPU_ID] [--id ID] [--generate] [--verbose] [--params [PARAMS ...]]
config
positional arguments:
config Path to config file
options:
-h, --help show this help message and exit
-a [A ...] Add maps
-d remove all other maps
-r [R ...] Record episode only, potentially override render params
-n N Parallel gyms for evaluate
--scenario SCENARIO Load specific scenario
--scenarios SCENARIOS
Load file with multiple scenarios
--all_maps Load all maps
--heuristic Use Heuristic Only
--stochastic Set agent to stochastic
--maps_only Draws maps only
--gym_only Only evaluates gym. Specify full config path.
--gpu Activates usage of GPU
--gpu_id GPU_ID Activates usage of GPU on specific GPU id
--id ID Gives the log files a specific name, else config name
--generate Generate config file for parameter class
--verbose Prints the network summary at the start
--params [PARAMS ...]
Override parameters as: path/to/param1 value1 path/to/param2 value2 ...
For instructions in the interactive evaluation environment press the h key.
To run the agents from the paper, make sure the submodule is initialized. Run the following commands to run the respective agents:
Baseline:
python evaluate.py baseline
Ensemble:
python evaluate.py ens
Regularization:
python evaluate.py reg
Ensemble + Regularization:
python evaluate.py ens_reg
Augmentation:
python evaluate.py rot_aug
Add --all_maps to evaluate on all maps including the OOD maps.
The maps from the paper are included in the 'res' directory. Map information is formatted as PNG files with one pixel representing one grid-world cell. The pixel color determines the type of cell according to
- red #ff0000 no-fly zone (NFZ)
- blue #0000ff start and landing zone
- yellow #ffff00 buildings blocking field-of-view (FoV)
If you would like to create a new map, you can use any tool to draw a PNG with the same pixel dimensions as the desired map and the above color codes.
When maps are loaded for the first time, a model is computed that is later used by the FoV calculation, action mask, and heuristic. The model is saved as 'res/[map_name]_model.pickle'. For large maps, this process may take a few minutes.
If using this code for research purposes, please cite:
For the Equivariant Ensembles and Regularization for Reinforcement Learning in Map-based Path Planning:
@inproceedings{theile2024equivariant,
title={Equivariant Ensembles and Regularization for Reinforcement Learning in Map-based Path Planning},
author={Theile, Mirco and Cao, Hongpeng and Caccamo, Marco and Sangiovanni-Vincentelli, Alberto L},
booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024},
organization={IEEE}
}
For the power-constrained CPP problem with recharge:
@article{theile2023learning,
title={Learning to recharge: UAV coverage path planning through deep reinforcement learning},
author={Theile, Mirco and Bayerlein, Harald and Caccamo, Marco and Sangiovanni-Vincentelli, Alberto L},
journal={arXiv preprint arXiv:2309.03157},
year={2023}
}
This code is under a BSD license.