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Quick Start

Installation

Prerequisites

  1. Refer to Environment Setup and First Simulation for installing and configuring the TongSIM simulation environment. After confirming you can successfully run examples/quickstart_demo.py, follow the steps below to install and configure the single-agent navigation task.
  2. This project uses uv as the project management tool. It is recommended to use uv to install and manage dependencies. Please refer to the uv website for installation.

Install Dependencies

The required libraries and versions are as follows:

[dependency-groups]
rl_nav = [
    "gymnasium>=1.2.1",
    "pygame>=2.6.1",
    "stable-baselines3[extra]>=2.7.0",
    "tensorboard>=2.20.0",
    "pillow>=10.0.0",
    "opencv-python>=4.10.0.84",
]

The related configuration is recorded under the rl_nav group in ./pyproject.toml. Switch your working directory to root directory of the project, then run:

uv sync --group rl_nav

Verification

Project layout:

./examples/rl_nav
│  collect_task.py # task env
│  run.py # tain/evaluation/manual
│
├─common # common module
│
├─model # baseline model
│
└─occupy_grid # occupy grid png data

Start TongSIM and open an empty scene map. Then run:

uv run python ./examples/rl_nav/run.py test --model_name="search_ppo_10000000_steps.zip"

TongSIM successfully loads the task scenario, and the simplified occupancy grid map is displayed correctly in the pygame window. The running result is shown in the figure below:

Task Launched Successfully Figure 1. Task Launched Successfully