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This repository contains the source code for our paper: "NaviSTAR: Socially Aware Robot Navigation with Hybrid Spatio-Temporal Graph Transformer and Preference Learning". For more details, please refer to our project website at https://sites.google.com/view/san-navistar.

License: MIT License

Python 100.00%
machine-learning reinforcement-learning preference-learning robot-navigation socially-aware-navigation transformer

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san-navistar's Issues

Question: Transformer Usage in SAC

Hello SMART Lab!

I really enjoyed your NaviSTAR paper! I was playing around with the code and I had a question I was hoping you may please help me resolve.

When I start from train_NaviSTAR.py and the config files and look in sac.py and the SAC.yaml, the critic and actor used are not the transformer architecture. I can't seem to find where the transformer is actually used. Everything seems to be standard MLPs. Is this perhaps not the latest code?

Looking forward to your response!

James

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