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ICRA 2019 Simulator

Requirements

  • Python3
  • Pytorch
  • OpenAI gym
  • Box2D
  • swig

Environment

Anaconda (Recommonded)

conda create -f environment.yaml
conda activate ICRA

Pip

sudo apt-get install swig # or install from source
pip3 install gym box2d box2d-kengz
pip3 install pytorch

Try the simulator

python3 ICRABattleField.py

You can use WASD to move the red robot, QE to rotate it, SPACE to shoot projectiles (the gun will aim the enemy automatically) and R to supply projectiles (in the red supply area, top middle).

Train

python3 train.py --seed 233 --enemy hand --save_model_path "ICRA_save.model" --epoch 1000 --update_step 10

Use the hand-written agent as the enemy. Save the trained model to ICRA_save.model. Train 1000 epoches and update the model every 10 epoch.

Test

python3 test.py --seed 233 --enemy hand --load_model --load_model_path "ICRA_save.model" --epoch 50

Use the hand-written agent as the enemy. Use the trained model in ICRA.model. Test 50 epoches.

Screenshot

Video on real robot

https://youtu.be/pTiAzl6hWXM

TODO

  1. ICRA Map Construction
  2. Bullet Simulation
  3. Damage and blood calculation
  4. Simple strategy implemention
  5. Path planning
  6. Moving behaviour with mecanum wheels