Direct optimizer - Githubissues

google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

https://github.com/deepmind/mujoco_mpc

Apache License 2.0

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Direct optimizer #193

Closed thowell closed 11 months ago

thowell commented 11 months ago

This PR aims to reorganize functionality currently found in Batch. The aim is to:

create a direct optimizer Direct based on MuJoCo inverse dynamics
- includes parameter optimization
create a batch filter that inherits from Direct
create a planner for MJPC that inherits from Direct

Todo (in follow up PRs)

[x] rename python + grpc "batch" -> "direct" (added in #196)
[ ] direct optimizer "noise" -> "weights" (+ batch filter mapping "noise" to "weights")
[x] confirm python demos works with changes
[x] add slerp for direct planner warm starting (added in #195)