Adroid-RL. Based on gym_pybullet_drones

Separation rationale

Initially this project was implemented as a package within gym_pybullet_drones fork. But everything has changed after a Massive Purge. This was done to favour modularity, and compactness of the project. Adroid-RL, however still heavily relates on its parent. And in order to build it successfully, a proper configuration for gym_pybullet_drones has to be ensured first.

Branch strcture

This project uses branches in a somewhat dual way.

1. In a standard git understanding of a branch
2. As a checkpoint list for which a particular hypothesis succeeded. Thus each branch marked as ch-{N} contains a checkpoint with potentially some documentation related to it.

Signatures or traits

It is a naming convention for hypothesis runs, which has a self-documenting character. There is no particular convention apart from the following one:

• Separate logically different signatures with -
• Unite multiple words in logically similar signatures with _
• Try to capture the following categories in signatures:
  • Algorithm eg sac, ppo, ddpg
  • Reward and penalty policy eg severe_scold, relaxed_scold, agressive_penalty, generous_rew etc
  • Episodicity eg fin_horizon, inf_hor
  • Geometric boundary specifics xyz_boundary, z_limit, relaxed_z_lim
  • Observation struct messy_obs, kinem_obs, imu_measur, rgb_depth_vec etc
  • Goal description seek_and_find, obs_av, nav, move_to

Example signature:

sac-xy_z_diff-diff_xyz_obs-strict_death-simple_find

Extended signatures

Extended signatures are tailed with arch specifics, or some of your test env sepcifics like total time steps etc.

Extended Example signature:

(ppo-xy-diff_obs-simple_find)-relu-500000-120deg-121-384-256

Checkpoints

Once checkpoint_n+1 appears, checkpoint_n get erased, unless decided otherwise.

• Checkpoint 1; commit: 7e9429c31e3a96dbd9de311df26a9867f1062c5e
• Checkpoint 2; ch-2:90b4e17db81f4666cd34e137db93d0f5c50332c4