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Author SHA1 Message Date
Michael Pilosov
c4e3128be5 readme updated for headless instructions 2022-05-26 15:12:42 +00:00
Michael Pilosov
05118810ad notebook split 2022-05-26 15:09:03 +00:00
Michael Pilosov
9c259e896b interactive mode 2022-05-26 15:02:27 +00:00
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README.md
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@ -2,7 +2,6 @@
control systems with MUD points control systems with MUD points
# installation # installation
```bash ```bash
@ -18,9 +17,6 @@ A `data.pkl` file is provided for your convenience with input / output samples.
python main.py python main.py
``` ```
You can also instead use the included [jupyter notebook](./DemoMUD.ipynb).
# info # info
The inputs are the parameters to a `1x4` matrix which is multiplied against the observations of the state in order to make a decision for the next action (push left or right). The output of the vector inner-product is binarized by comparing it to zero as a threshold value. The inputs are the parameters to a `1x4` matrix which is multiplied against the observations of the state in order to make a decision for the next action (push left or right). The output of the vector inner-product is binarized by comparing it to zero as a threshold value.
@ -33,7 +29,6 @@ There is no assumed error in observations; the "data variance" is designed to re
Therefore, since our objective is to stabilize the cart, the target "time series signal" is zero for all four dimensions of the observation space. The presumed "data variance" should actually correspond to the acceptable bands of signal (WIP). Therefore, since our objective is to stabilize the cart, the target "time series signal" is zero for all four dimensions of the observation space. The presumed "data variance" should actually correspond to the acceptable bands of signal (WIP).
# generate data # generate data
You can generate your own data with: You can generate your own data with:
@ -50,8 +45,7 @@ Using the following presumptions, we can establish better values for the "data v
> The angular momentum of the pole is the most important thing to stabilize. > The angular momentum of the pole is the most important thing to stabilize.
# headless mode
# headless mode / notebook demos Run `./headless.sh` (requires `sudo`) to install virtual displays so you can view results in a Jupyter notebook.
Run `./headless.sh` (requires `sudo`) to install virtual displays so you can use the included Jupyter notebooks.