rl_rvo_nav

Introduction

This repository is the source code of the paper "Reinforcement Learned Distributed Multi-Robot Navigation with Reciprocal Velocity Obstacle Shaped Rewards" [RA-Letter]

PDF_ieee | PDF_arxiv | Video_Youtube | Video_Bilibili

Circle 10	Circle 16	Circle 20

Random 10	Random 16	Circle 20

Prerequisites

• Python >= 3.8
• Pytorch >= 1.6.0
• intelligent-robot-simulator == v2.5

git clone -b v2.5 https://github.com/hanruihua/intelligent-robot-simulator.git
cd intelligent-robot-simulator
pip install -e .

Test environment

• Ubuntu 20.04, 18.04
• Windows 10, 11

Installation

git clone https://github.com/hanruihua/rl_rvo_nav.git
cd rl_rvo_nav
./setup.sh

Policy Train

• First stage: circle scenario with 4 robots.

python train_process.py --use_gpu

or

python train_process_s1.py

• Second stage: continue to train in circle scenario with 10 robots.

python train_process.py --robot_number 10 --train_epoch 2000 --load_name YOUR_MODEL_PATH --use_gpu --con_train

or

python train_process_s2.py

Policy Test

You can test the policy trained from the previous steps by following command:

python policy_test.py --robot_number 10 --dis_mode 3 --model_name YOUR_MODEL_NAME --render

Note1: dis_mode, 3, circle scenario; 2 random scenario
Note2: YOUR_MODEL_NAME refer to the path and name of the check point file in the policy_train/model_save folder

Pretrained model

We provide the pre_trained model, you can test this model by following command:

python policy_test_pre_train.py --render

Citation

If you find this code or paper helpful, please consider starring this repository and citing our paper:

@article{han2022reinforcement,
  title={Reinforcement Learned Distributed Multi-Robot Navigation With Reciprocal Velocity Obstacle Shaped Rewards},
  author={Han, Ruihua and Chen, Shengduo and Wang, Shuaijun and Zhang, Zeqing and Gao, Rui and Hao, Qi and Pan, Jia},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={3},
  pages={5896--5903},
  year={2022},
  publisher={IEEE}
}

This project uses IR-SIM. If you use the simulator in your work, please also cite:

@article{han2026ir,
  title={IR-SIM: A Lightweight Skill-Native Simulator for Navigation, Learning, and Benchmarking},
  author={Han, Ruihua and Wang, Shuai and Li, Chengyang and Gao, Rui and Wang, Xinyi and Liu, Zhe and Li, Guoliang and Lu, Yupu and Hao, Qi and Pan, Jia and Zhao, Hengshuang},
  journal={arXiv preprint arXiv:2606.08729},
  year={2026}
}

Author

Han Ruihua
Contact: hanrh@connect.hku.hk