gym-copter

OpenAI Gym environment for reinforcement learning with multicopters.

Features:

• Pure Python / Cross-platform

• Uses realistic multirotor dynamics (Bouabdallah et al. 2004) that can be subclassed for a particular vehicle configuration (quad, hex, octo, etc.)

• Supports rendering via a Heads-Up Display (HUD) similar to Mission Planner / QGroundControl.

Quickstart

% pip3 install gym
% python3 setup.py install
% python3 gym_copter/envs/lander2d.py

(On Linux you will probably have to run pip3 with sudo

You should see the copter land safely.

Evolving a neural controller

The NEAT sub-folder of this repository shows how you can use the NEAT algorithm to evolve a neural controller for your copter.

Supported environments

• Lander-v0 2D LunarLander-style challenge

• Lander3D-v0 3D lander with reward proportional on proximity of touchdown to center

• Lander3DHardcore-v0 3D lander with big reward for landing inside circle

Similar projects

gym_rotor

GymFC

How to Train Your Quadcopter