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Low-level autonomous control and tracking of quadrotor using reinforcement learning - Proximal Policy Optimization

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Low-level autonomous control and tracking of quadrotor using reinforcement learning - Proximal Policy Optimization

Instructions to run the code:

  • Make sure the following libraries are installed:
    • Python 3.4x
    • Pytorch
    • Numpy
  • go to the /code/ folder
  • to train and run the hover task:
    • run $ python hover_train_and_run.py
  • to train and run the trajectory following task:
    • run $ python traj_train_and_run.py
  • The code can be run in collab if GPU environment to be used

Results:

Hovering Task:

alt text

Trajectory following Task:

alt text

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Low-level autonomous control and tracking of quadrotor using reinforcement learning - Proximal Policy Optimization

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