Installation

Unzip this stack on the ROS WORKSPACE and install dependencies.

pip install -r requirements.txt

Then, build it:

catkin build cbn_irl gym_2d

Training / Testing commands for BN-IRL in a circular wall environment

rosrun cbn_irl bnirl_2d_circle --tr --renew --viz --irl_renew --eta 0.1
rosrun cbn_irl bnirl_2d_circle --te --viz --eta 0.1

Training / Testing commands for CBN-IRL in a circular wall environment

rosrun cbn_irl cbnirl_2d_circle --tr --renew --viz --irl_renew --eta 0.1
rosrun cbn_irl cbnirl_2d_circle --te --viz --eta 0.1