├── README.md ├── cfg ├── algo │ └── mappo.yaml ├── base │ ├── env_base.yaml │ ├── randomization_base.yaml │ └── sim_base.yaml ├── debug.yaml ├── eval.yaml ├── task │ └── FormationUnified.yaml └── train.yaml ├── omni_drones ├── __init__.py ├── actuators │ ├── __init__.py │ └── rotor_group.py ├── controllers │ ├── __init__.py │ ├── cf2x_pid.py │ ├── cfg │ │ ├── lee_controller_firefly.yaml │ │ ├── lee_controller_hummingbird.yaml │ │ └── lee_controller_neo11.yaml │ ├── dsl_pid_controller.py │ └── lee_position_controller.py ├── envs │ ├── __init__.py │ ├── formation_unified.py │ ├── isaac_env.py │ └── utils │ │ ├── __init__.py │ │ ├── helpers.py │ │ ├── prims.py │ │ └── stage.py ├── learning │ ├── __init__.py │ ├── _ppo.py │ ├── common.py │ ├── mappo.py │ ├── modules │ │ ├── distributions.py │ │ ├── networks.py │ │ └── rnn.py │ └── utils │ │ ├── clip_grad.py │ │ ├── gae.py │ │ └── valuenorm.py ├── robots │ ├── __init__.py │ ├── assets │ │ └── usd │ │ │ ├── cf2x_isaac.usd │ │ │ ├── cf2x_pybullet.usd │ │ │ └── crazyflie.yaml │ ├── config.py │ ├── drone │ │ ├── __init__.py │ │ ├── cf2x.py │ │ └── crazyflie.py │ └── robot.py ├── sensors │ ├── __init__.py │ ├── camera.py │ └── config.py ├── utils │ ├── __init__.py │ ├── bspline.py │ ├── envs │ │ └── __init__.py │ ├── image.py │ ├── kit.py │ ├── math.py │ ├── poisson_disk.py │ ├── scene.py │ ├── torch.py │ ├── torchrl │ │ ├── __init__.py │ │ ├── collector.py │ │ ├── env.py │ │ └── transforms.py │ └── wandb.py └── views │ └── __init__.py └── scripts ├── eval.py ├── my_eval.py └── train.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YQXie99/UAV-formation/HEAD/README.md -------------------------------------------------------------------------------- /cfg/algo/mappo.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YQXie99/UAV-formation/HEAD/cfg/algo/mappo.yaml 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