This is repository for accepted paper in RA-L 2023 and ICRA 2023.

Title of paper is GIN: Graph-based Interaction-aware Constraint Policy Optimization for Autonomous Driving

Prerequisite

Installing CARLA physic engine

version 0.9.11 https://github.com/carla-simulator/carla/releases/tag/0.9.11/ download CARLA_0.9.11.tar.gz file

unzip CARLA_0.9.11.tar.gz
./CarlaUE.sh 

Installing Conda virtual environment

change environment.yml file in line 239 {$user} to Hostname

conda env create --file environment.yml 
conda activate gin

To train agents:

set RootPATH to user repository path

bash train.sh

To test agents:

set RootPATH to user repository path

bash test.sh

To get data:

set RootPATH to user repository path set seed to run leaned agent

bash demo.sh