mpc.pytorch
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locuslab
A fast and differentiable model predictive control (MPC) solver for PyTorch.
Minor issue, but worth mentioning: this library has no explicit requirements for FFMPEG, but recordings of the videos seem to depend pretty heavily on the `-crf` command (example: cell:4;line:6 in...
Is there a way to improve the speed performance of the solver by doing the computation on GPU? If so, which tensors should be assigned to 'cuda'?
In (`LQRStep.lqr_forward`) https://github.com/locuslab/mpc.pytorch/blob/master/mpc/lqr_step.py, we have the following: ```python if t < T-1: if isinstance(true_dynamics, mpc.LinDx): F, f = true_dynamics.F, true_dynamics.f new_xtp1 = util.bmv(F[t], new_xut) if f is not None and...
I am trying to design a custom MPC to follow a trajectory. The cost function has the form of (x-x_i)^T Q_i (x-x_i) + (u-u_i)^T R (u-u_i) where the x_i is...
Hi, I was trying to run your scripts on a Jetson Nano, which has an ARMv8 cpu and runs Ubuntu 18.04LTS, so all the following relates to this platform only....
Dear developers, I tried to run the example 'gym_pendulum_approximate.py'. The solver did not manage to control the pendulum to the upright position as planned. The file was not modified at...
Hi, I am quite new to RL. I found the example of gym_pendulum.py very useful and I was trying to do the same with [continuous mountain car](https://github.com/openai/gym/blob/master/gym/envs/classic_control/continuous_mountain_car.py). My code is...
I'm not sure if it is leaking memory, but the forwards pass may leave some objects around that the gc may not be able to clear.
This is useful if the controller consistently does **not** hit a fixed point
If I understand correctly, https://github.com/locuslab/mpc.pytorch/commit/206bd939ec1479424221a62ed45ad26830849fcc does the LQR step with the slew rate penalty in the quadratic cost approximation, but does the line search on the unmodified `cost` function without...