Latest Trajectory Planning Results#
Simulation#
Metric, Algorithm, Parameters |
\(n_1,n_2,n_3,n_4,t\) |
Long Horizon Trajectory Planning |
|---|---|---|
Number of Movers |
— |
3 |
Number of Measurements |
— |
100 |
Success Rate (%) |
\(15000\) |
\(99.3\pm0.001\) |
Makespan (ms) |
\(1000\) |
\(511463.58\pm11108.03\) |
Throughput (ms) |
\(3000\) |
\(495261.89\pm7345.36\) |
Collisions |
\(15000\) |
\(32.09\pm8.49\) |
Mover-Mover Collisions |
\(15000\) |
\(26.45\pm7.66\) |
Mover-Obstacle Collisions |
\(15000\) |
\(5.64\pm2.01\) |
Smoothness |
\(1000\) ms |
\(4610.97\pm490.87\) |
Process Time |
\(300\) |
\(0.1178\pm0.0035\) |
Link to MagBotSim Environment |
— |
|
Benchmark Configuration |
— |
B0 |
Algorithm |
— |
Soft Actor-Critic + Hindsight Experience Replay |
Library |
— |
TorchRL |
Link to Parameters |
— |
Real System (Sim2Real)#
Metric, Algorithm, Parameters |
\(n_1,n_2,n_3,n_4,t\) |
Long Horizon Trajectory Planning |
|---|---|---|
Number of Movers |
— |
3 |
Number of Measurements |
— |
3 |
Success Rate (%) |
\(15000\) |
\(99.97\pm0.02\) |
Makespan (ms) |
\(1000\) |
\(530970.33\pm14461.78\) |
Throughput (ms) |
\(3000\) |
\(502553.00\pm6412.13\) |
Collisions |
\(15000\) |
\(0.0\pm0.0\) |
Mover-Mover Collisions |
\(15000\) |
\(0.0\pm0.0\) |
Mover-Obstacle Collisions |
\(15000\) |
\(0.0\pm0.0\) |
Link to MagBotSim Environment |
— |
|
Benchmark Configuration |
— |
B0 |
Algorithm |
— |
Soft Actor-Critic + Hindsight Experience Replay |
Library |
— |
TorchRL |
Link to Training Parameters |
— |
|
MagLev System |
— |
Beckhoff XPlanar |