Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization

Code accompanying the paper Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization with authors Homanga Bharadhwaj, Kevin Xie, and Florian Shkurti (First two authors contributed equally). To be presented in L4DC 2020.

Requirements

• Python 3
• DeepMind Control Suite
• Gym
• OpenCV Python
• MuJoCo
• PyTorch

Instructions

Run python.main.py in folder experiments/D_comp followed by python plot.py (for Fig. 3a in the paper)

Run python.main.py in folder experiments/discont_comp followed by python plot_num_obs.py (for Fig. 3b in the paper)

Contributors

@homangab and @kevincxie (equal contribution)