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grizzi / phd2020_Giuseppe_Rizzi

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First MPPI Test #10

Open grizzi opened 4 years ago

grizzi commented 4 years ago

To get an idea of the algorithm I have implemented it and tried on the pole-cart problem. This is the result: https://youtu.be/TQnbzJ7scFs

@marco-tognon-robotics @JenJenChung

marco-tognon-robotics commented 4 years ago

For the time it took, good job! I was wondering why it is so shaky.

grizzi commented 4 years ago

thanks :). I think that this is related to the cost function. This is not penalizing the input (force on the cart), neither the velocity of the pendulum and the cart, just the position of the pendulum and the one of the cart. The code is here

JenJenChung commented 4 years ago

Very cool, is it time to try the double inverted pendulum? https://www.youtube.com/watch?v=ki9BZeugVxc

grizzi commented 4 years ago

@JenJenChung I know that work, it is called PILCO and I have done my semester thesis on something similar. I do not know if it would work out of the box :thinking: On monday I have a meeting with Farbod. He has apparently already something implemented that we could use. Lets see, I will keep you updated!