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commit a68f572
Author: middleyuan <[email protected]>
Date:   Fri Dec 6 16:53:27 2024 +0100

    add hpo for fmpc.

commit 570b107
Author: middleyuan <[email protected]>
Date:   Fri Dec 6 16:29:28 2024 +0100

    add fmpc configs.

commit e17f7b6
Author: middleyuan <[email protected]>
Date:   Fri Dec 6 16:23:10 2024 +0100

    merge fmpc.

commit 4ae01f8
Author: middleyuan <[email protected]>
Date:   Fri Dec 6 11:06:21 2024 +0100

    add stacked bar plot for hpo.

commit d18b12d
Author: middleyuan <[email protected]>
Date:   Thu Dec 5 15:47:52 2024 +0100

    update hpo plotting script.

commit f760eac
Author: Mingxuan Che <[email protected]>
Date:   Thu Dec 5 12:25:58 2024 +0100

    revert back the env action bound

commit 1cb0b3c
Merge: 455620f 01869fd
Author: Mingxuan Che <[email protected]>
Date:   Wed Dec 4 13:47:44 2024 +0100

    Merge branch 'benchmark' of github.com:middleyuan/safe-control-gym into benchmark

commit 455620f
Author: Mingxuan Che <[email protected]>
Date:   Wed Dec 4 13:47:40 2024 +0100

    add fmpc

commit 01869fd
Author: middleyuan <[email protected]>
Date:   Wed Dec 4 12:58:53 2024 +0100

    remove unnecessary config.

commit def3b74
Author: middleyuan <[email protected]>
Date:   Wed Dec 4 12:55:35 2024 +0100

    1. update configs for ilqr. 2. remove optimziation over q and r for ilqr.

commit fd1803b
Author: middleyuan <[email protected]>
Date:   Wed Dec 4 10:13:13 2024 +0100

    update config for gpmpc acados and ilqr.

commit 65a0796
Author: Shambhuraj Sawant <[email protected]>
Date:   Wed Dec 4 02:12:37 2024 +0530

    config update

commit a5c1695
Merge: a116afe 2294653
Author: Mingxuan Che <[email protected]>
Date:   Tue Dec 3 14:14:42 2024 +0100

    Merge branch 'benchmark' of github.com:middleyuan/safe-control-gym into benchmark

commit a116afe
Merge: 79fdc9f a1bd468
Author: Mingxuan Che <[email protected]>
Date:   Tue Dec 3 14:02:27 2024 +0100

    Merge branch 'benchmark' of github.com:middleyuan/safe-control-gym into benchmark

commit 2294653
Merge: 79fdc9f a1bd468
Author: Mingxuan Che <[email protected]>
Date:   Tue Dec 3 14:02:27 2024 +0100

    Merge branch 'benchmark' of github.com:middleyuan/safe-control-gym into benchmark

commit 79fdc9f
Author: Mingxuan Che <[email protected]>
Date:   Tue Dec 3 14:02:14 2024 +0100

    add 3D gpmpc

commit a1bd468
Author: middleyuan <[email protected]>
Date:   Tue Dec 3 13:55:39 2024 +0100

    match the config for rl when evaluating hps.

commit 4a5d7aa
Author: middleyuan <[email protected]>
Date:   Tue Dec 3 09:43:14 2024 +0100

    update configs for ppo and dppo.

commit adf2855
Author: Mingxuan Che <[email protected]>
Date:   Mon Dec 2 23:49:00 2024 +0100

    add 3D task config

commit 3942752
Author: middleyuan <[email protected]>
Date:   Mon Dec 2 19:39:12 2024 +0100

    fix minor bugs.

commit 1a35422
Author: middleyuan <[email protected]>
Date:   Mon Dec 2 12:15:08 2024 +0100

    add hpo_eval.sh.

commit 96fd546
Author: middleyuan <[email protected]>
Date:   Mon Dec 2 10:36:24 2024 +0100

    update linear mpc hpo config.
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@Federico-PizarroBejarano
Federico-PizarroBejarano committed Dec 6, 2024
1 parent 6e06675 commit 28e2675
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Showing 39 changed files with 3,839 additions and 165 deletions.
70 changes: 70 additions & 0 deletions ...g_sim/quadrotor/config_overrides/gpmpc_acados_TRP_quadrotor_3D_attitude_tracking_100.yaml
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algo: gpmpc_acados_TRP
algo_config:
horizon: 25
q_mpc: [8, 0.1, 8, 0.1, 8, 0.1, 0.5, 0.5, 0.001,0.001]
r_mpc: [3, 3, 3]
gp_model_path: null
test_data_ratio: 0.2
soft_constraints: null
optimization_iterations:
- 500 # 1200
- 500 # 1200
- 500 # 1200
learning_rate:
- 0.001
- 0.001
- 0.001
normalize_training_data: False
# normalize_training_data: True
prior_info:
prior_prop:
M: 0.033 # Must be capitcal M
a: 12.1432
b: 1.8118
c: -72.08
d: -7.5755
e: 39.8653
f: -72.08
h: -7.5755
l: 39.8653
use_linear_prior: False
# use_linear_prior: True
initial_rollout_std: 0.0
# prior_param_coeff: 0.2
prior_param_coeff: 1.0
prob: 0.95
warmstart: True
use_gpu: True
kernel: RBF_single
gp_approx: 'mean_eq' # 'taylor'
# sparse_gp: false # true
sparse_gp: true
n_ind_points: 40
inducing_point_selection_method: 'kmeans'
overwrite_saved_data: false
online_learning: False
additional_constraints: null
# input_mask: null
# target_mask: null
# target_mask: [1, 3, 5]
num_epochs: 2
num_samples: 50
num_test_episodes_per_epoch: 1
num_train_episodes_per_epoch: 1
same_test_initial_state: true
same_train_initial_state: false
rand_data_selection: false
terminate_train_on_done: True
terminate_test_on_done: True
# parallel: True
parallel: False
use_RTI: False
output_dir: ./gpmpc_acados_TRP/results
plot_trained_gp: False
# plot_trained_gp: True
# use_ancillary_gain: True
# soft_constraints_params:
# gp_soft_constraints: true
# gp_soft_constraints_coeff: 10000
# prior_soft_constraints: false
# prior_soft_constraints_coeff: 10000
52 changes: 52 additions & 0 deletions benchmarking_sim/quadrotor/config_overrides/ilqr_quadrotor_3D_attitude_tracking_100.yaml
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algo: ilqr
algo_config:
# Cost parameters
q_lqr: [18, 0.1, 18, 0.1, 18, 0.1, 0.5, 0.5, 0.001, 0.001]
r_lqr: [3., 3., 3.]
# q_lqr:
# - 5.88529216699797
# - 0.0001
# - 5.00397782633266
# - 0.8618608985543565
# - 0.980013664114415
# - 0.0001
# r_lqr:
# - 1.2497823191792372
# - 0.8638794170664649
# q_lqr:
# - 14.494407520031473
# - 10.532245879788602
# - 14.999999999999993
# - 5.028652914046583
# - 0.0010000000000001872
# - 0.0010000000000012837
# r_lqr:
# - 0.001000000000002624
# - 0.0010000000000001872
# Model arguments
# Note: Higher simulation frequency is required if using controller designed
# based on the continuous-time model
discrete_dynamics: True

# iLQR arguments
# max_iterations: 15
# lamb_factor: 10
# lamb_max: 1000
# epsilon: 0.01
epsilon: 0.01
lamb_factor: 10
lamb_max: 1000
max_iterations: 15

# prior_info:
# prior_prop:
# # M: 0.027 # Must be capitcal M
# # beta_1: 12.1432
# # beta_2: 1.8118
# # beta_3: 0
# # alpha_1: -72.08
# # alpha_2: -7.5755
# # alpha_3: 39.8653
# pitch_bias: 0.0 # in radian

output_dir: ./ilqr/results
6 changes: 4 additions & 2 deletions ...marking_sim/quadrotor/config_overrides/mpc_acados_quadrotor_3D_attitude_tracking_100.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,10 @@ algo_config:
# - 0.001
horizon: 25
# q_mpc: [18, 0.1, 18, 0.5, 0.5, 1.0]
q_mpc: [18, 0.1, 18, 0.1, 18, 0.1, 0.5, 0.5, 0.001, 0.001]
r_mpc: [3., 3., 3.]
# q_mpc: [18, 0.1, 18, 0.1, 18, 0.1, 0.5, 0.5, 0.001, 0.001]
# r_mpc: [10., 3., 3.]
q_mpc: [8, 0.1, 8, 0.1, 8, 0.1, 0.5, 0.5, 0.001,0.001]
r_mpc: [3, 3, 3]
# r_mpc: [10, 10]
# Prior info
# prior_info:
Expand Down
101 changes: 101 additions & 0 deletions benchmarking_sim/quadrotor/config_overrides/quadrotor_3D_attitude_tracking_11.yaml
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task_config:
info_in_reset: True
ctrl_freq: 60
pyb_freq: 60
physics: dyn_si_3d_10
# physics: pyb
quad_type: 8

init_state:
init_x: 0
init_x_dot: 0
init_z: 1.0
init_z_dot: 0
init_theta: 0
init_theta_dot: 0
randomized_init: True
randomized_inertial_prop: False

init_state_randomization_info:
init_x:
distrib: 'uniform'
low: -0.01
high: 0.01
init_x_dot:
distrib: 'uniform'
low: -0.01
high: 0.01
init_y:
distrib: 'uniform'
low: -0.01
high: 0.01
init_y_dot:
distrib: 'uniform'
low: -0.01
high: 0.01
init_z:
distrib: 'uniform'
low: -0.01
high: 0.01
init_z_dot:
distrib: 'uniform'
low: -0.01
high: 0.01
init_phi:
distrib: 'uniform'
low: -0.02
high: 0.02
init_theta:
distrib: 'uniform'
low: -0.02
high: 0.02
init_p:
distrib: 'uniform'
low: -0.02
high: 0.02
init_q:
distrib: 'uniform'
low: -0.02
high: 0.02

task: traj_tracking
task_info:
trajectory_type: figure8
num_cycles: 2
trajectory_plane: 'xy'
trajectory_position_offset: [0, 0.]
trajectory_scale: 1.0
# ilqr_ref: True
# ilqr_traj_data: /home/mingxuan/Repositories/scg_tsung/examples/lqr/ilqr_ref_traj.npy

# inertial_prop:
# M: 0.033
# Iyy: 1.4e-05
# beta_1: 18.11
# beta_2: 3.68
# beta_3: 0.0
# alpha_1: -140.8
# alpha_2: -13.4
# alpha_3: 124.8
# pitch_bias: 0.0 # in radian

episode_len_sec: 11
cost: quadratic

constraints:
- constraint_form: default_constraint
constrained_variable: state
- constraint_form: default_constraint
constrained_variable: input

done_on_out_of_bound: True
done_on_violation: False
# disturbances:
# dynamics: # disturbance force in newton
# - disturbance_func: uniform
# low: 1.
# high: 1.
# mask: [1, 0, 0, 0]
# observation:
# - disturbance_func: white_noise
# std: [5.6e-05, 1.5e-02, 2.9e-05, 8.0e-03, 1.3e-03, 3.5e-03]
101 changes: 101 additions & 0 deletions benchmarking_sim/quadrotor/config_overrides/quadrotor_3D_attitude_tracking_15.yaml
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task_config:
info_in_reset: True
ctrl_freq: 60
pyb_freq: 60
physics: dyn_si_3d_10
# physics: pyb
quad_type: 8

init_state:
init_x: 0
init_x_dot: 0
init_z: 1.0
init_z_dot: 0
init_theta: 0
init_theta_dot: 0
randomized_init: True
randomized_inertial_prop: False

init_state_randomization_info:
init_x:
distrib: 'uniform'
low: -0.01
high: 0.01
init_x_dot:
distrib: 'uniform'
low: -0.01
high: 0.01
init_y:
distrib: 'uniform'
low: -0.01
high: 0.01
init_y_dot:
distrib: 'uniform'
low: -0.01
high: 0.01
init_z:
distrib: 'uniform'
low: -0.01
high: 0.01
init_z_dot:
distrib: 'uniform'
low: -0.01
high: 0.01
init_phi:
distrib: 'uniform'
low: -0.02
high: 0.02
init_theta:
distrib: 'uniform'
low: -0.02
high: 0.02
init_p:
distrib: 'uniform'
low: -0.02
high: 0.02
init_q:
distrib: 'uniform'
low: -0.02
high: 0.02

task: traj_tracking
task_info:
trajectory_type: figure8
num_cycles: 2
trajectory_plane: 'xy'
trajectory_position_offset: [0, 0.]
trajectory_scale: 1.0
# ilqr_ref: True
# ilqr_traj_data: /home/mingxuan/Repositories/scg_tsung/examples/lqr/ilqr_ref_traj.npy

# inertial_prop:
# M: 0.033
# Iyy: 1.4e-05
# beta_1: 18.11
# beta_2: 3.68
# beta_3: 0.0
# alpha_1: -140.8
# alpha_2: -13.4
# alpha_3: 124.8
# pitch_bias: 0.0 # in radian

episode_len_sec: 11
cost: quadratic

constraints:
- constraint_form: default_constraint
constrained_variable: state
- constraint_form: default_constraint
constrained_variable: input

done_on_out_of_bound: True
done_on_violation: False
# disturbances:
# dynamics: # disturbance force in newton
# - disturbance_func: uniform
# low: 1.
# high: 1.
# mask: [1, 0, 0, 0]
# observation:
# - disturbance_func: white_noise
# std: [5.6e-05, 1.5e-02, 2.9e-05, 8.0e-03, 1.3e-03, 3.5e-03]
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