added code base

CMakeLists.txt

@@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(reinforcement_learning_navigation)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+# add_definitions(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES reinforcement_learning_navigation
+#  CATKIN_DEPENDS ridgeback_gazebo ridgeback_navigation
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/reinfocement_learning_navigation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/reinforcement_learning_navigaation_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_reinfocement_learning_navigation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

@@ -1,2 +1,35 @@
-## Reinforced Imitation Open Source Repo
-Stay tuned! We are currently preparing our code for open-sourcing. 
+Reinforced Imitation
+====================
+
+This repository contains the tensorflow implementation for training a reinforcement learning based map-less navigation model, as described in the paper:\
+[Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations](https://arxiv.org/abs/1805.07095)
+
+# Requirements
+1. Ubuntu
+2. Python 2.7
+3. [ROS Indigo](http://wiki.ros.org/indigo) or [ROS Kinetic](http://wiki.ros.org/kinetic)
+4. Stage-ros simulator, with `add_pose_sub` enabled. Can be found in this [branch](https://github.com/ros-simulation/stage_ros/tree/add_pose_sub) of the repository.
+
+# Training the Model
+1. First run the stage simulator:
+`roslaunch reinforcement_learning_navigation stage_sim.launch`
+2. In a separate terminal, run the training code:
+`rosrun reinforcement_learning_navigation train_cpo.py --output_name $experiment_name$`\
+In order to use pre-trained weights from imitation learning, add the arguments `--jump_start 1 --model_init $path_to_policy_weights$`
+
+# Citation
+If you use our code in your research, please cite our paper.
+```
+@ARTICLE{pfeiffer2018ral,
+author={M. Pfeiffer and S. Shukla and M. Turchetta and C. Cadena Lerma and A. Krause and R. Siegwart and J. Nieto},
+journal={IEEE Robotics and Automation Letters},
+title={{Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations}},
+year={2018},
+volume={3},
+number={4},
+pages={4423-4430}
+}
+```
+
+# References
+Our training model uses Constrained Policy Optimization : \[[Paper](https://arxiv.org/abs/1705.10528)\] \[[Code](https://github.com/jachiam/cpo)\]

README.md~

@@ -0,0 +1,6 @@
+<<<<<<< HEAD
+## Reinforce Imitation Open Source Repo
+=======
+## Reinforced Imitation Open Source Repo
+>>>>>>> origin/fix/name
+Stay tuned! We are currently preparing our code for open-sourcing. 

initial_weights/simple_model/checkpoint

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+model_checkpoint_path: "final"
+all_model_checkpoint_paths: "snap-40000"
+all_model_checkpoint_paths: "snap-80000"
+all_model_checkpoint_paths: "final"

launch/stage_sim.launch

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+<!--
+  Turtlebot navigation simulation:
+  - stage
+  - map_server
+  - move_base
+  - static map
+  - amcl
+  - rviz view
+ -->
+<launch>
+  <arg name="base"       default="$(optenv TURTLEBOT_BASE kobuki)"/>  <!-- create, rhoomba -->
+  <arg name="stacks"     default="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
+  <arg name="3d_sensor"  default="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro -->
+
+  <!-- Name of the map to use (without path nor extension) and initial position -->
+  <arg name="map_file"       default="$(find reinforcement_learning_navigation)/maps/train_env.yaml "/> <!-- robopark_plan -->
+  <arg name="world_file"     default="$(find reinforcement_learning_navigation)/maps/stage/train_env.world"/>
+  <arg name="initial_pose_x" default="0.0"/>
+  <arg name="initial_pose_y" default="0.0"/>
+  <arg name="initial_pose_a" default="0.0"/>
+
+  <param name="/use_sim_time" value="true"/>
+  <!--  ******************** Stage ********************  -->
+  <!--
+        Publishes transforms:
+          /base_link -> /base_laser
+          /base_footprint -> /base_link (identity)
+          /odom -> base_footprint
+        Publishes topics:
+          /odom : odometry data from the simulated odometry
+          /base_scan : laser data from the simulated laser
+          /base_pose_ground_truth : the ground truth pose
+        Parameters:
+          base_watchdog_timeout : time (s) after receiving the last command on cmd_vel before stopping the robot
+        Args:
+          -g : run in headless mode.
+  -->
+  <node pkg="stage_ros" type="stageros" name="stageros" args="-g $(arg world_file)" respawn="true">
+    <param name="base_watchdog_timeout" value="0.2"/>
+    <remap from="odom" to="odom"/>
+    <remap from="base_pose_ground_truth" to="base_pose_ground_truth"/>
+    <!--remap from="cmd_vel" to="mobile_base/commands/velocity"/-->
+    <!--remap from="base_scan" to="scan"/-->
+    <!--remap from="base_scan_0" to="front/scan"/-->
+    <!--remap from="base_scan_1" to="rear/scan"/-->
+  </node>
+
+
+  <!--  ***************** Robot Model *****************  -->
+  <include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
+    <arg name="base" value="$(arg base)" />
+    <arg name="stacks" value="$(arg stacks)" />
+    <arg name="3d_sensor" value="$(arg 3d_sensor)" />
+  </include>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="false"/>
+  </node>
+
+  <!-- Command Velocity multiplexer -->
+  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
+  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
+    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
+    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
+  </node>
+
+  <!--  ************** Navigation  ***************  -->
+  <!--include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/-->
+
+  <!--  ****** Maps *****  -->
+  <!--node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"-->
+    <!--param name="frame_id" value="/map"/-->
+  <!--/node-->
+
+  <!--include file="$(find turtlebot_navigation)/launch/includes/amcl/amcl.launch.xml"-->
+    <!--arg name="scan_topic" value="scan"/-->
+    <!--arg name="use_map_topic" value="true"/-->
+    <!--arg name="initial_pose_x" value="$(arg initial_pose_x)"/-->
+    <!--arg name="initial_pose_y" value="$(arg initial_pose_y)"/-->
+    <!--arg name="initial_pose_a" value="$(arg initial_pose_a)"/-->
+  <!--/include-->
+
+  <!--  **************** Visualisation ****************  -->
+  <!--node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_stage)/rviz/robot_navigation.rviz"/-->
+</launch>