# pendulum env
env = gym.make('QQube-TO-v1')
env._max_episode_steps = 500
alg = MBGPS(env, nb_steps=500,
kl_bound=0.01,
init_ctl_sigma=100.,
activation={'shift': 450, 'mult': 0.5})
# run gps
trace = alg.run(nb_iter=10, verbose=True)
# plot dists
alg.plot()
# plot objective
import matplotlib.pyplot as plt
plt.figure()
plt.plot(trace)
plt.show()
# sample and plot one trajectory
data = alg.sample(nb_episodes=1, stoch=True)
plt.figure()
plt.subplot(5, 1, 1)
plt.plot(data['x'][0, :], '-b')
# pendulum env
env = gym.make('Pendulum-TO-v0')
env._max_episode_steps = 100
env.unwrapped.dt = 0.05
env.seed(1337)
solver = MBGPS(env,
nb_steps=100,
init_state=env.init(),
init_action_sigma=5.0,
kl_bound=1e1,
slew_rate=False,
action_penalty=1,
activation={
'mult': 1.,
'shift': 80
})
trace = solver.run(nb_iter=25, verbose=True)
# plot dists
solver.plot()
# plot objective
plt.figure()
plt.plot(trace)
plt.show()
