Export important hyperparameters into a YAML file.

hjsuh94 / irs_mpc

iRS-LQR: iterative Randomized Smoothing LQR

MIT License

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Export important hyperparameters into a YAML file. #7

Open hjsuh94 opened 3 years ago

hjsuh94 commented 3 years ago

Each example should own their yaml file, which is shared by the file that actually runs the main irs thread (e.g. run_planar_hand.py), the workers planar_hand_workers.py, and the setup planar_hand_setup.py.

As a rule of thumb, we do not want to edit anything in irs_lqr between different examples and iterations.

Sort out list of important hyperparameters here:

first-order vs. zero-order vs. exact

pangtao22 commented 3 years ago

It would be nice to make the workers MBP-agnostic, i.e. we can pass a yaml file as command line argument to the workers, instead of changing a line in the worker that imports what should be in the yaml file from another python script. But with MBP sim coming in we still don't know yet the perfect interface. So we'll just leave this open for now.