Learning to Fly
L
Learning To Fly
Overview :
Learning to Fly (L2F) is an open-source project designed to train end-to-end control policies using deep reinforcement learning, capable of completing training quickly on consumer-grade laptops. The project's main advantages include fast training speed, achievable within seconds, and robust generalization capabilities that allow trained policies to be directly deployed to real quadcopters. The L2F project relies on the RLtools deep reinforcement learning library and provides comprehensive installation and deployment guides, enabling researchers and developers to quickly get started and experiment.
Target Users :
The target audience includes researchers, developers, and students in the fields of robotics, automation, and artificial intelligence. This project is ideal for them as it provides a platform for rapid experimentation and validation of new ideas, particularly for the application of reinforcement learning in robotic control.
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Use Cases
Researchers utilize L2F to quickly train the control policy for quadcopters in a simulated environment.
Developers deploy the trained policy onto a real Crazyflie quadcopter, achieving autonomous flight.
Students use the L2F project as an educational tool to learn about deep reinforcement learning and robotic control.
Features
Fast training: Capable of completing quadcopter control policy training in 18 seconds on a laptop.
End-to-end control: Provides complete policy training from sensor input to control output.
Generalization ability: The trained policy can be transferred to real-world quadcopters.
Deep reinforcement learning: Relies on the RLtools library to employ deep reinforcement learning techniques for policy training.
Cross-platform support: Provides Docker support to run on various operating systems.
User interface: Features a web-based UI for convenient monitoring of the training process.
Tensorboard logging: Supports Tensorboard logging for easy analysis of training results.
Open source code: All code is open-sourced on GitHub, facilitating community contributions and improvements.
How to Use
1. Clone the repository locally: Use the git clone command to clone the learning-to-fly project to your local directory.
2. Install dependencies: Install the necessary libraries based on your system environment (Ubuntu or macOS).
3. Build the project: Execute the cmake command in the project root directory to configure the build, then use cmake --build to compile the project.
4. Run training: Use the command line to run the training program, for example, ./build/src/training_headless to start headless training.
5. Use Tensorboard to view results: After installing Tensorboard, use the command tensorboard --logdir=logs to check training logs.
6. Deploy to quadcopter: Once training is complete, deploy the policy to a real quadcopter for testing.
7. Use Docker (optional): The entire project can also be run via Docker, using the docker run command to launch the Docker container.
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