PaddleRobotics is an open-source algorithm library for robots based on Paddle, including open-source parts such as human-robot interaction, complex motion control, environment perception, SLAM positioning, and navigation.

Related tags

Deep Learning robotics navigation slam robot-control human-robot-interaction
Overview

简体中文 | English

PaddleRobotics

paddleRobotics是基于paddle的机器人开源算法库集，包括人机交互、复杂运动控制、环境感知、slam定位导航等开源算法部分。

人机交互

主动多模交互技术TFVT-HRI

主动多模交互技术是通过视觉、语音、触摸传感器等输入机器人进行决策、输出表情、动作、声音等响应。

复杂运动控制

四足机器人

通过强化学习，实现四足机器人的行走、避障、越障等功能。

环境感知

通过视觉、雷达、超声波、红外等传感器实时获取当前环境信息，进行数据融合处理，精确判断环境状态。

Slam定位导航

通过感知的环境信息，经算法处理后实现当前可通行区域的判断和多目标跟踪。

许可证书

本项目的发布受Apache 2.0 license许可认证。

如何贡献代码

我们非常欢迎你可以为PaddleRobotics提供代码，也十分感谢你的反馈。

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Comments
  • HRI/TFVT_HRI : No module named 'interaction.common.discrete_uc_ctrl

    HRI/TFVT_HRI : No module named 'interaction.common.discrete_uc_ctrl

    File "HRI/TFVT_HRI/interaction/action.py", line 2, in from interaction.common.discrete_uc_ctrl import DiscreteUCController ModuleNotFoundError: No module named 'interaction.common.discrete_uc_ctrl'

    The common directory dont have the discrete_uc_ctrl.py : data.py data_via_decord.py discrete_ctrl.py init.py pycache utils.py

    can you provide it?

    thanks

    opened by tarikbeijing 1
  • ValueError: device value error, must be str,

    ValueError: device value error, must be str,

    请问一下，我只在仿真环境中跑了train.py, 按照readme的指导，但是报告了一个异常， ValueError: device value error, must be str, paddle.CPUPlace(), paddle.CUDAPlace(), paddle.CUDAPinnedPlace() or paddle.XPUPlace(), but the type of device is device 我测试了一下，device=cuda, type(decvice) = <class 'torch.device'>, 一直找不到哪里的问题,可以帮忙看一下么？

    opened by IverYangg 6
  • 运行Dynamic_train.py时报错Exception in thread Thread-2：parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]:

    运行Dynamic_train.py时报错Exception in thread Thread-2：parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]:

    作者您好，我运行QuadrupedalRobots/ETGRL/train.py训练是没有问题的，但是运行Dynamic_train.py时出现了下面3个问题，查看Dynamic_train.py同级目录里是有./model/Dynamic_parallel_model.py文件的，请问是什么原因造成的呢？

    Exception in thread Thread-2: parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]:

    [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py' FileNotFoundError: [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'

    parl.remote.exceptions.FutureFunctionError: There is an error raised when calling the future function __init__.

    完整报错信息

    [04-26 20:29:14 MainThread @Dynamic_train.py:71] args:Namespace(K=20, alg='ga', eval=0, gamma=1, load='', outdir='Dynamic', sigma=0.1, steps=10000, suffix='exp0', thread=2, xparl='192.168.30.145:8037') Exception in thread Thread-5: Traceback (most recent call last): File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/threading.py", line 932, in _bootstrap_inner self.run() File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/threading.py", line 870, in run self._target(*self._args, **self._kwargs) File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 92, in _run_object_in_backend raise e File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 82, in _run_object_in_backend self._xparl_remote_wrapper_obj = remote_wrapper( File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/remote_wrapper.py", line 107, in init raise RemoteError('init', traceback_str) parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]: [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py' traceback: Traceback (most recent call last): File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/job.py", line 297, in wait_for_connection cls = load_remote_class(message[1]) File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/remote_class_serialization.py", line 207, in load_remote_class with open(file_name + '.py') as t_file: FileNotFoundError: [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'

    Exception in thread Thread-4: Traceback (most recent call last): File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/threading.py", line 932, in _bootstrap_inner self.run() File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/threading.py", line 870, in run self._target(*self._args, **self._kwargs) File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 92, in _run_object_in_backend raise e File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 82, in _run_object_in_backend self._xparl_remote_wrapper_obj = remote_wrapper( File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/remote_wrapper.py", line 107, in init raise RemoteError('init', traceback_str) parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]: [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py' traceback: Traceback (most recent call last): File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/job.py", line 297, in wait_for_connection cls = load_remote_class(message[1]) File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/remote_class_serialization.py", line 207, in load_remote_class with open(file_name + '.py') as t_file: FileNotFoundError: [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'

    Traceback (most recent call last): File "/mnt/hgfs/虚拟机/PaddleRobotics-main/QuadrupedalRobots/ETGRL/Dynamic_train.py", line 74, in main() File "/mnt/hgfs/虚拟机/PaddleRobotics-main/QuadrupedalRobots/ETGRL/Dynamic_train.py", line 72, in main model.train(args.steps) File "/mnt/hgfs/虚拟机/PaddleRobotics-main/QuadrupedalRobots/ETGRL/model/Dynamic_parallel_model.py", line 159, in train mean_re = self.update(epoch) File "/mnt/hgfs/虚拟机/PaddleRobotics-main/QuadrupedalRobots/ETGRL/model/Dynamic_parallel_model.py", line 128, in update future_objects.append(self.agent_list[i].batch_sample_episodes(param=solutions[i*self.K:(i+1)*self.K,:],K = self.K)) File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 144, in getattr raise self._xparl_remote_object_exception parl.remote.exceptions.FutureFunctionError: There is an error raised when calling the future function __init__. You can see the detailed error message above, which is printed by another thread.

    Process finished with exit code 1

    环境

    Ubuntu 18.04 python 3.8 parl = 1.4.0 torch = 1.7.0 rlschool = 1.0.2

    @xueeinstein

    opened by Senwei-Huang 5
  • Dynamic_train时加载data/dynamic/内的数据含义请教

    Dynamic_train时加载data/dynamic/内的数据含义请教

    作者您好，我在研读了你们发表的论文后想跑一下这个项目，但是在看域自适应训练代码时遇到一些模糊的地方，想请教一下。

    在运行Dynamic_train.py时，下面这行代码： MEAN_INFO = np.load("data/dynamic/mean_dict_5_18.npz") # data used for dynamic adaptation 加载进来的数据的键分别代表什么意思呢？ dict_keys(['exp_motor_mean', 'exp_motor_std', 'exp_drpy_mean', 'exp_drpy_std', 'ori_motor_mean', 'ori_motor_std', 'ori_drpy_mean', 'ori_drpy_std', 'height_motor_mean', 'height_motor_std', 'height_drpy_mean', 'height_drpy_std'])

    下面代码：

    GAIT_LIST["exp"] = np.load("data/dynamic/gait_action_list_t0.3.npy")
GAIT_LIST["ori"] = np.load("data/dynamic/gait_action_list_CPG_ori.npy")
GAIT_LIST["height"] = np.load("data/dynamic/gait_action_list_CPG_height.npy")

    加载进来的是什么数据呢？不知道您是否方便公开一下，谢谢

    @xueeinstein

    opened by Senwei-Huang 7
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