TRAINING MODEL OF THE PLANNER

[cbcbHH]

Hi, excuse me, sorry to bother you! I would like to know the .pth in the model file, is it training from the latter algorithm of your work in RAL2024 or your earlier work in ICRA2023? If I want a new model trained by myself, do I just need to run the training code from your open-source and I can get the .pth file automatically? Thanks for your support!

[caoyuhong001]

The model in this repo is trained by the code in the RAL paper repo. You should be able to retrain a model yourself by just running driver.py (either the ICRA repo or the RAL repo) with the default parameters. Then you just need to copy the saved network to the model folder in this repo and run it.