ColorDynamic

<p align="center"> <img src="https://github.com/XinJingHao/Images/blob/main/ColorDynamic/logo.png" width="300" /><br> <img src="https://img.shields.io/badge/Python-blue" /> <img src="https://img.shields.io/badge/DRL-blueviolet" /> <img src="https://img.shields.io/badge/MobileRobot-ff69b4" /> </p> <br/> <p align="center"> <strong>Generalizable, Scalable, Real-time, End-to-end Local Planner</strong><br> <strong>for Unstructured & Dynamic Environments</strong> </p> <br/>

Gallery

<p align="center"> <img src="https://github.com/XinJingHao/Images/blob/main/Sparrow_V2/case2.gif" width="250" /> <img src="https://github.com/XinJingHao/Images/blob/main/Sparrow_V2/case_cd.gif" width="250" /> <img src="https://github.com/XinJingHao/Images/blob/main/Sparrow_V3/N10.gif" width="250" /> </p> <p align="center"> <img src="https://github.com/XinJingHao/Images/blob/main/ColorDynamic/warehouse1.gif" width="250" /> <img src="https://github.com/XinJingHao/Images/blob/main/ColorDynamic/warehouse2.gif" width="250" /> <img src="https://github.com/XinJingHao/Images/blob/main/ColorDynamic/warehouse3.gif" width="250" /> </p> <p align="center"> <img src="https://github.com/XinJingHao/Images/blob/main/Sparrow_V2/real1.gif" width="250" /> <img src="https://github.com/XinJingHao/Images/blob/main/Sparrow_V2/real2.gif" width="250" /> <img src="https://github.com/XinJingHao/Images/blob/main/Sparrow_V2/real3.gif" width="250" /> </p>

                                                                            The video can be found here.

Dependency

numpy>=1.24.4
scipy>=1.10.1
pygame>=2.5.2
torch>=2.2.0 # GPU version is recommended
torchaudio>=2.2.0
torchvision>=0.17.0
tensorboard>=2.18.0

Quick Start

Play with keyboard:

python play_with_keyboard.py

Play with trained model:

python play_with_mouse.py

Then, use your mouse to set target points:

<p align="left"> <img src="https://github.com/XinJingHao/Images/blob/main/Sparrow_V2/play.gif" width="250" /> </p>

Train your own model:

python train_ColorDynamic.py

During training, the model will be saved in model at a fixed frequency.

After training, you can use the following command to select the best model, where the evaluation results will be saved in Evaluation_result and runs.

python evaluate_and_plot.py

Navigation with ColorDynamic

<p align="left"> <img src="https://github.com/XinJingHao/Images/blob/main/ColorDynamic/warehouse.gif" width="500" /> </p>

Please refer to the OPCD Navigation System.

<br/>

Documentations:

• Sparrow-V2
• Sparrow-V3
• ColorDynamic
• Color
• OPCD

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Citing this Project

To cite this repository in publications:

@article{ColorDynamic,
  title={ColorDynamic: Generalizable, Scalable, Real-time, End-to-end Local Planner for Unstructured and Dynamic Environments},
  author={Jinghao Xin, Zhichao Liang, Zihuan Zhang, Peng Wang, and Ning Li},
  journal={arXiv preprint arXiv:2502.19892},
  year={2025}
}