Input Inference for Control (I2C) Version 0.0.0 for CoRL 2019 submission

Note: code is still a work in progress. While every effort has been made to make it clean, there are several prototyped features still under development in the code (but not used in evaluation).

    cd [DIR]
    python3 -m venv env
    source env/bin/activate
    pip3 install -r requirements.txt

    pip install -e .

    python scripts/LQR_compare.py

results are in _linear/

To plot results run

    python scripts/plot_results.py

results are in _plots/

To run controller evalulation see scripts/eval_controller.py (this requires output from the experiment scripts below)

    python scripts/run.py pendulum_known
    python scripts/run.py cartpole_known
    python scripts/run.py double_cartpole_known

results are in _results/

    python scripts/baseline_experiments.py {1}_{2}

where 1: {'ilqr', 'gps'} and 2: {'pendulum', 'cartpole', 'double_cartpole'}

i.e.

    python scripts/baseline_experiments.py ilqr_pendulum

results are in _baselines/

Note: 'trajopt' is Open Source code we have used and edited for the baselines. We have included it in this repo to preserve anonymity.