minregret / tigercontrol Goto Github PK

description

Implement a plot method for Experiment class, which allows users to immediately plot the results of their experiments.

Hi,

I'm getting the next error when running /Users/rgap/Desktop/LIBS/tigercontrol/tigercontrol/models/control/tests/test_mppi.py

tigercontrol.error.UnregisteredObject: No registered with ID: CartPoleSwingup-v0, did you mean PyBullet-CartPoleSwingup-v0?

Allow for the creation and registration of custom models

Add feature that allows users to implement their own Models and register it automatically to CTSB (locally) - John

Hi,

I'd like to try out Algorithm 1 in https://arxiv.org/pdf/1902.08721.pdf.

I see two files:
https://github.com/MinRegret/TigerControl/blob/master/tigercontrol/controllers/gpc.py
https://github.com/MinRegret/TigerControl/blob/master/tigercontrol/controllers/gpc_v2.py

Which version is recommended?

Thanks!

notes:

• our experiments (using tigercontrol)
• nataly's experiments

Kalman filter calls jax.numpy.inv() and throws an error (works fine with regular numpy). Issue brought up with Peter, wait for his feedback.

Implement a Linear Quadratic Regulator Model for control tasks, see https://en.wikipedia.org/wiki/Linear%E2%80%93quadratic_regulator

New Problem type — allow users to create a CustomProblem instance (name pending) which takes a locally stored dataset, owned by user, and creates a time-series out of it. Example implementation approach could be to let the problem.initialize method take the directory path to the dataset

LONG TERM FEATURE - Create physics engine for control simulation (ex MuJoCo/Unity) to allow for future control Problems

In non-test files (ex Models and Problems) where input is checked for correct shape and type, we have previously been using "asserts" instead of "try-except raise Error". We need to go through all our legacy code and fix this!

The update method varies for different types of models. To resolve this issue, we have made the design choice of implementing model subclasses (TimeSeries, Control, etc) each with the same type of update rule (ex. TimeSeries takes a true label, prediction, params, and loss). Someone should implement these subclasses and place them in a new directory under models/subclasses or some other fitting name.

Add download utils and Problem class for cryptocurrency dataset (mostly bitcoin)

The Linear model currently has no implementation, and will throw a NotImplementedError every time it is initialized. TODO: Implement a basic online ARMA model and make sure it passes the unit test.

Add unit tests to new Model classes

Experiment inputs aren't generic enough to work on arbitrary problems, currently throws errors on several problems, for example LDS because it does not pass it an input at every step.

Automatic smart initialization of Problems and Models for the Experiment class (based on dimensionality of given problem) so that user doesn't have to call problem/model.initialize() for all the inputs

notes:

• create folder in directory

Find a simple control Problem and implement it (simple enough that it can be used as a debugging tool)