Integrate FITRE (Purdue) - Githubissues

GaloisInc / csaf

Control Systems Analysis Framework - a framework to minimize the effort required to evaluate, implement, and verify controller design (classical and learning enabled) with respect to the system dynamics.

BSD 3-Clause "New" or "Revised" License

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Integrate FITRE (Purdue) #80

Open podhrmic opened 3 years ago

podhrmic commented 3 years ago

Faster and better training and re-training approach

Deliverables (Use branch subs/FITRE):

FITRE trained NN for Inner loop LEC
Jupyter NB to demo the integration and FITRE's performance improvements.

Tasks

Integrate FITRE into PyTorch to enable seamless integration into the training workflow of inner-loop controller using stable-baselines.
Show off FITRE's USPs by
- note down the reduction in hyper-parameters and, if possible, use it to easily find better hyper-param values.
- comparing training times with and without FITRE
- using multiple initial conditions for training to improve the performance, while using the same timed budget as before.

Stretch

Show off FITRE on a higher dimensional problem. For example, a multi-agent scenario with an appropriate objective: rejoin and complex maneuvers.
FITRE trained NN for outer loop Autopilot