pendular-codesign
Design and Control Co-Optimization of Pendular Robots (Final project of MIT 6.832 Underactuated Robotics)
Installation
conda env create -f environment.yml
Control Optimization
Pendulum
python control/test.py --env pendulum --control ilqr
python control/test.py --env pendulum --control mppi
Acrobot
python control/test.py --env acrobot --control ilqr
python control/test.py --env acrobot --control mppi
Design Optimization
Pendulum
python optimize.py --env pendulum --control ilqr
python optimize.py --env pendulum --control mppi
Acrobot
python optimize.py --env acrobot --control ilqr
Hyperparameters
To reproduce results in the report, please run
python optimize.py --env pendulum --control ilqr --num-iter 30 --lr 3e-2
python optimize.py --env pendulum --control mppi --num-iter 30 --lr 3e-2
python optimize.py --env acrobot --control ilqr --num-iter 50 --lr 1e-2