environment: naviswarm_depth_v2 4 robots empty environment depth camera

status: depth only training for pedestrians is not enough, may need to train for a longer time rgb is in training for static depth+lidar is in training for pedestrians, also in static environment.

double reched_goal_reward = 40; double collision_penalty =-40; reward_approaching_goal = 5*(state.goalObs.goal_prev.goal_dist - state.goalObs.goal_now.goal_dist); penalty_for_bigvz = std::abs(state.velObs.vel_now.vz) * (-0.1); penalty_for_time = (current_steps+1) *(-0.1);

environment: naviswarm_depth_v4 NN with fixed parameter 4 robots empty environment depth camera

double reched_goal_reward = 40; double collision_penalty =-40; reward_approaching_goal = 5*(state.goalObs.goal_prev.goal_dist - state.goalObs.goal_now.goal_dist); penalty_for_bigvz = std::abs(state.velObs.vel_now.vz) * (-0.01); penalty_for_time = (current_steps+1) *(0);

environment naviswarm_rdb_v2 NN with fixed parameters 4 robots empty environment rgb image

double reched_goal_reward = 40; double collision_penalty =-40; reward_approaching_goal = 5*(state.goalObs.goal_prev.goal_dist - state.goalObs.goal_now.goal_dist); penalty_for_bigvz = std::abs(state.velObs.vel_now.vz) * (-0.01); penalty_for_time = (current_steps+1) *(0);

environment naviswarm_onlydepth_v1 NN with simple CNN 4 robots empty environment rgb image

double reched_goal_reward = 40; double collision_penalty =-40; reward_approaching_goal = 5*(state.goalObs.goal_prev.goal_dist - state.goalObs.goal_now.goal_dist); penalty_for_bigvz = std::abs(state.velObs.vel_now.vz) * (-0.01); penalty_for_time = (current_steps+1) *(0);

environment naviswarm_onlydepth_v2 NN with fixed parameters 4 robots empty environment rgb image

double reched_goal_reward = 40; double collision_penalty =-40; reward_approaching_goal = 5*(state.goalObs.goal_prev.goal_dist - state.goalObs.goal_now.goal_dist); penalty_for_bigvz = std::abs(state.velObs.vel_now.vz) * (-0.01); penalty_for_time = (current_steps+1) *(0);