TransportFlyThrough

A challenging cooperative control task where a group of UAVs carry a box-shaped payload connected via rigid links.

Observation

The observation space is specified by a :py:class:CompositeSpec containing the following items:

• obs_self (1, *): The state of each UAV observed by itself, containing its kinematic information with the position being relative to the payload. It also includes a one-hot vector indicating each drone’s identity.

• obs_others (k-1, *): The observed states of other agents.

• obs_payload (1, *): The state of the frame, containing its position (relative to the reference), rotation (in quaternions and direction vectors), and velocities.

• obs_obstacles (2, 2): Relative (x-z) positions of the obstacles.

Reward

• separation: A factor that penalizes all agents when the minimum separation is too small.

• pos: Reward for tracking the trajectory, computed as :math:\exp(-a * \text{pos_error}).

• up: Reward for keeping the payload upright.

• swing: Reward for avoid large swinging of the payload.

• joint_limit: Reward for keeping the joint states in a reasonable range to avoid glitchy behaviors.

Config

• obstacle_spacing (Tuple[float, float], default=[0.85, 0.85]): A range from which the vertical spacing between the obstacles is sampled.

• reset_on_collision (bool, default=False): Whether to reset the environment when the payload collides with an obstacle.