LieFVIN

Code for paper "Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems"

Please check out the paper here: https://arxiv.org/pdf/2211.16006.pdf

Dependencies

The code has been tested with Ubuntu 18.04, Python 3.8 and the following packages:

torchdiffeq 0.1.1

torch 1.11.0

gym-pybullet-drones: https://github.com/utiasDSL/gym-pybullet-drones

gym 0.21.0

numpy 1.23.4

scipy 1.9.2

matplotlib 3.6.1

pyglet 1.5.27

Install mpc.pytorch: git clone git@github.com:locuslab/mpc.pytorch.git && cd mpc.pytorch && pip3 install -e .

Demos with pendulum

Run python ./examples/pendulum/train_pend_SO3.py to train the model with data collected from the pendulum environment. It might take some time to train. A pretrained model is stored in ./examples/pendulum/data/run1/pendulum-so3ham-vin-10p-6000.tar

Run python ./examples/pendulum/analyze_pend_SO3_genfig.py to plot the generalized mass inverse M^-1(q), the potential energy V(q), and the control coefficient g(q)

Run python ./examples/pendulum/rollout_pend_SO3.py to verify that our framework respect energy conservation and SE(3) constraints by construction, and plots phase portrait of a trajectory rolled out from our dynamics.

Run python ./examples/pendulum/control_mpc_pend_SO3.py to test our MPC controller with the learned dynamics.

Demos with quadrotor

Run python ./examples/quadrotor/train_quad_pyb_SE3_trainingb.py to train the model with data collected from the pybullet drone environment. It might take some time to train. A pretrained model is stored in ./examples/quadrotor_pyb/data/run1/quadrotor-se3fvin-vin-5p5-40000.tar

Run python ./examples/quadrotor/analyze_quadrotor_SE3_genfig.py to plot the generalized mass inverse M^-1(q), the potential energy V(q), and the control coefficient g(q)

Run python ./examples/quadrotor/rollout_quadrotor_SE3.py to verify that our framework respect energy conservation and SE(3) constraints by construction, and plots phase portrait of a trajectory rolled out from our dynamics.

Run python ./examples/quadrotor/control_mpc_quadrotor_SE3.py to test our MPC controller with the learned dynamics.

Citation

If you find our papers/code useful for your research, please cite our work as follows.

1. V. Duruisseaux, T. Duong, M. Leok, N. Atanasov. Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems. arxiv 2022..

@article{duruisseaux2022lie,
 title={Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems},
 author={Duruisseaux, Valentin and Duong, Thai and Leok, Melvin and Atanasov, Nikolay},
 journal={arXiv preprint arXiv:2211.16006},
 year={2022}
}