mahaitongdae/quad_sim

Quadrotor simulator for training RL-based policies.

Environment setup

• install pytorch according to https://pytorch.org/
• Get a modified version of gym-pybullet-drones

    git clone https://github.com/mahaitongdae/gym-pybullet-drones.git
    git checkout dev_haitong
    pip install -e .

offline training

cd train
python main_pyb.py

Sim-to-Real Transfer

Real-world experiment requirements and instructions

• Crazyflie 2.x
  • I used crazyswarm to control the crazyflies. For detailed setups, please refer to crazyswarm documentation.
  • For logging the experiment, we need to hack the hardware. You pro