Folders and files
| Name | Name | Last commit date | ||
|---|---|---|---|---|
@inproceedings{akmandor2025re4mpc,
title={Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning},
author={Akmandor, Ne{\c{s}}et {\"U}nver and Prajapati, Sarvesh and Zolotas, Mark and Padir, Ta{\c{s}}kin},
booktitle={2025 IEEE International Conference on Automation Science and Engineering (CASE)},
year={2025},
organization={IEEE}
}
- Akmandor, N.{"U}., Prajapati, S., Zolotas, M. and Padır, T., 2025. Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning. arXiv preprint arXiv:2506.08344.
4.1 Clone libccd into any directory (e.g. Home) and install libccd library from its source:
git clone https://github.com/danfis/libccd.git cd libccd mkdir build && cd build cmake -G "Unix Makefiles" -DENABLE_DOUBLE_PRECISION=ON .. sudo make -j4 sudo make install
4.2 Clone fcl into any directory (e.g. Home) and install fcl library from its source:
git clone https://github.com/flexible-collision-library/fcl.git cd fcl mkdir build && cd build cmake .. sudo make -j4 sudo make install
4.3 Clone the mobiman repository into the src folder of catkin workspace and install all required ROS packages:
git clone git@github.com:RIVeR-Lab/mobiman.git cd mobiman ./install_mobiman.sh
rosdep install --from-paths src --ignore-src -r -y
4.5 Install iGibson simulator and its library by following the instructions in igibson README.
5.1 Set configurations in mobiman_framework.launch
Set parameter "config_mobiman_framework":
- iGibson example: "config_mobiman_framework_igibson_manual"
# Do not forget to source: source devel/setup.bash roslaunch mobiman_simulation mobiman_framework.launch 2> >(grep -v TF_REPEATED_DATA buffer_core)
# Do not forget to source: source devel/setup.bash python src/igibson-ros/scripts/mobiman_jackalJaco.py
Note: grep command added to avoid stream of warnings as depicted in here.
5.2.1 Set configurations in mobiman_framework.launch
- iGibson example: "config_mobiman_framework_igibson_drl"
5.2.1.2 Set drl configurations in config_mobiman_drl_pick
# Do not forget to source: source devel/setup.bash roslaunch mobiman_simulation mobiman_framework.launch 2> >(grep -v TF_REPEATED_DATA buffer_core)
Training:
# Do not forget to source: source devel/setup.bash python src/igibson-ros/scripts/drl_training_sb3_mobiman_jackalJaco.py
Testing:
# Do not forget to source: source devel/setup.bash python src/igibson-ros/scripts/drl_testing_sb3_mobiman_jackalJaco.py
Trained models to reach static object on a conveyor belt
Neset Unver Akmandor | akmandor.n@northeastern.edu
Sarvesh Prajapati | prajapati.s@northeastern.edu
mobiman was developed at the RIVeR Lab, Northeastern University.