Pybullet-Gym-Drone - 强化学习无人机

Drone auto-navigation stimulation developed in Pybullet + OpenAI Gym Environment. Trust Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO) is implemented.

Result

Sucess Rate	DroneNavigationV0	DroneNavigationV1
TRPO	50.0%	39.2%
PPO	91.2%	11.2%

Run

• You can run & see the real time successful rate by:

python run.py --model PPO --version 0  

• To train the model, you can run:

python PPO_trainer.py

or

python TRPO_trainer.py

• You can modify the GUI in drone_envs/config "display": p.GUI,

Thanks Medium series on creating OpenAI Gym Environments with PyBullet.