Welcome to DRL-based Trajectory Tracking (DRLTT)’s documentation!

Code repository: https://github.com/MARMOTatZJU/drl-based-trajectory-tracking

Introduction

• DRL-based Trajectory Tracking (DRLTT)
  • Installation
    • Repository Cloning
    • Python Requirements
    • Protobuf Compiler
    • Docker images
  • Try out Pre-trained Checkpoints
  • RL Training & Evaluating & Visualizing & Tracing
    • Checkpoint Structure
    • System Design of Python-Side Framework
  • Deploying DRLTT
    • DRLTT Python SDK (PyTorch JIT-based) (Recommended)
    • DRLTT Python SDK (Standalone)
    • DRLTT C++ SDK
  • Development
    • Testing
    • Code Formatting
    • Configuring vscode
  • Citation

SDK

• DRLTT SDK
  • Interfaces
  • Compilation and Exporting
    • Build Docker Image
    • Compile Source and Export SDK Shared Library within Docker Container
    • Run sample program
    • Static Linking with LibTorch
  • Deployment
  • Development
    • Code format
    • Debugging

Test

• DRLTT TEST
  • DRLTT Python Test
  • DRLTT CPP Test
    • Accelerating CPP testing
  • DRLTT Documentation Test

Documentation Guide

• Documentation
  • Sphinx
    • For initialization
    • For incremental changes
    • Start the server and view the documentation pages
  • Use RST Files within the Sphinx Documentation
    • Include Markdown
    • Include Code snippets
  • Auto-Generation of API Documentations
    • Python documentation
    • Doxygen documentation
    • Protobuf documentation

Docker

• Docker
  • drltt:cicd: Build DRLTT CI/CD Docker Image
  • drltt:runtime: Build DRLTT Runtime Docker Image
  • Useful Tips
    • Tips 1: Networking Issue
    • Tip 2: Transferring Docker images
    • Tip 3: Clearing Cache

API

APIs: simulator

• APIs: simulator
  • simulator.environments
  • simulator.dynamics_models
  • simulator.rl_learning
  • simulator.observation
  • simulator.trajectory

APIs: common

• APIs: common
  • common.registry
  • common.io
  • common.gym_helper
  • common.geometry

APIs: SDK

• APIs: SDK
  • TrajectoryTracker
  • TrajectoryTracking
  • TorchJITModulePolicy

Protobuf Definition

• Protobuf Definition