Residual Policy Learning Facilitates Efficient Model-Free Autonomous Racing

The official code for model-free autonomous racing algorithm ResRace.

Dependencies

Our code has been tested on Ubuntu 18.04 with Python 3.6 and Tensorflow 2.3.0.

The simulator used in this repository is Axel Brunnbauer's racecar_gym.

PPO and TRPO are based on OpenAI SpinningUp

git clone https://github.com/openai/spinningup.git 
cd spinningup 
pip install -e . 
pip install tensorflow==2.3.0