dranaju/project

Robot rotating in place after 10 iterations

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sarath-menon commented

hey, the trained models provided work perfectly. However. the robot is rotating in place after 10 iterations when training from scratch. I believe is the model is saturating quickly.

sarath-menon commented

Working perfectly after 250 episodes ~ overnight training

trqminh commented

@sarath-menon hope you 're right, my agent is now rotating in place too.

trqminh commented

episode 110, my agent is still rotating in place, but I don't despair

dranaju commented

It takes a time until the robot learns. But I need to revise this code for you. If you need help, just contact me directly.

trqminh commented

@dranaju Thank you for your answer!
The episode is now 300, but the robot is still rotating in place. Here is my modification from your project:

  • First off, I am launching the turtlebot on gazebo 9 on my computer and running the project in the server by running python src/ddpg_stage1.py. The world, that I am using, is similar to turtlebot_stage_2, so I change in the code that self.stage = 2 instead of self.stage = rospy.get_param('/stage_number')
    image
  • Secondly, I struggled with installing tf2_py in python3 so I calculate the yaw by this:
    image
  • Finally, I trained from scratch by getting rid of this "trainer.load_models(4880)"

I also see that you used to add the distance rate in the setReward() function, why you don't use it anymore?