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Reinforcement Learning with Model Predictive Control

This project implements a reinforcement learning (RL) agent integrated with a Model Predictive Controller (MPC) for autonomous driving simulations using SUMO (Simulation of Urban MObility). The RL agent learns to adjust the weights of the MPC cost function to optimize vehicle control in various traffic scenarios.

SUMO Simulation

Table of Contents

Project Structure

  • train_rl_agent.py: Main script to train the RL agent using PPO, TD3, or SAC algorithms.
  • mpc_controller.py: Defines the MPC controller and computes control actions.
  • run_simulation.py: Manages the simulation environment and runs episodes.
  • models/:
    • rl_agent_ppo.py: PPO agent implementation.
    • rl_agent_td3.py: TD3 agent implementation.
    • rl_agent_sac.py: SAC agent implementation.
  • requirements.txt: Python package dependencies.

Installation

  1. Clone the repository:

    git clone https://github.com/MayankD409/RL_MPC.git
cd RL_MPC

  2. Set up a virtual environment (optional):

    python3 -m venv venv
source venv/bin/activate

  3. Install Python dependencies:

    pip install -r requirements.txt

  4. Install SUMO:

    • Download and install SUMO from the official website.
    • Set the SUMO_HOME environment variable: 
      export SUMO_HOME="/path/to/sumo"

Usage

Training the Agent

  1. Select the RL agent in train_rl_agent.py:

    agent_type = "TD3"  # Options: "PPO", "SAC", "TD3"

  2. Run the training script:

    python train_rl_agent.py

  3. Monitor training progress:

    • Training results are saved in the results/ directory.
    • Plots for rewards, success rates, collision rates, and average jerk are generated.

Simulation Parameters

  • Simulation scenarios are defined in run_simulation.py using SUMO configuration files.
  • MPC controller settings can be adjusted in mpc_controller.py.
  • RL agent hyperparameters are set within each agent's script in the models/ directory.

Files Description

  • train_rl_agent.py: Trains the RL agent, handles logging and result plotting.
  • mpc_controller.py: Implements the MPC logic and computes control inputs.
  • run_simulation.py: Sets up the SUMO environment, runs simulations, and collects data.
  • models/:
    • rl_agent_ppo.py: Proximal Policy Optimization agent.
    • rl_agent_td3.py: Twin Delayed DDPG agent.
    • rl_agent_sac.py: Soft Actor-Critic agent.
  • requirements.txt: Contains all the Python libraries required to run the project.

Dependencies

  • Python 3.x
  • SUMO (Simulation of Urban MObility)
  • PyTorch
  • NumPy
  • Matplotlib
  • OpenAI Gym
  • CVXPY
  • Additional packages listed in requirements.txt

Acknowledgments

  • SUMO developers for the simulation tools.
  • OpenAI for the RL algorithms.
  • PyTorch community for the deep learning framework.