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High-speed Autonomous Drifting with Deep Reinforcement Learning
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README.md

High-speed Autonomous Drifting with Deep Reinforcement Learning

High-speed drifting cornering by the proposed deep RL controller High-speed drifting cornering by the proposed deep RL controller High-speed drifting cornering by the proposed deep RL controller

Reference trajectorires for seven maps

Seven maps designed in this work

Reference trajectories for the maps are located in code/ref_trajectory

traj_0: for map(a), for first-stage training.

traj_1...traj_5: for map(b-f), for second-stage training.

traj_6: for map(g), for evaluation

Trained weights for different models

weights are located in weights/, where four kinds of models are included. Note that sac-stg1 and sac-stg2 are different stages of our SAC controller during training. sac-stg2 is the final version and sac-stg1 are only trained on map(a).

Test code

run sh code/test.sh to test different models on map(g) with various setups. The driving data (timestamp, speed, location, heading, slip angle, control commands, etc.) will be recorded in code/test/ after the testing process.

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