Software infrastructure for out-of-distribution detection with a real quadrupedal robot based on Gaussian process state-space models. This repository implements the experiments of the paper:
Out of Distribution Detection via Domain-Informed Gaussian Process State Space Models Alonso Marco, Elias Morley, Claire J. Tomlin 2023 IEEE 62nd Conference on Decision and Control (CDC)
It features as prediction module (C++) for fast rolling-out of state trajectories. Implemented using Eigen and pybind11
It needs the auxiliar repository LQRker.
conda create -n ood python=3.7
pip install tensorflow
pip install tensorflow_probability
pip install numpy scipy matplotlib==3.2.2
pip install hydra-core --upgrade
pip install control
pip install -e .
cd <path/to/LQRker>
pip install -e .