Skip to content

Commit

Permalink
update configs for ilqr linear mpc lqr and pid.
Browse files Browse the repository at this point in the history
  • Loading branch information
middleyuan committed Nov 29, 2024
1 parent fce6d19 commit 5a9f21f
Show file tree
Hide file tree
Showing 4 changed files with 53 additions and 58 deletions.
Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
hpo_config:

load_if_exists: True # this should set to True if hpo is run in parallel
objective: [exponentiated_rmse] # [other metrics defined in base_experiment.py]
objective_bounds: [[0.0, 1.0]] # [bounds for each objective]. Worse value will be assigned if objective evaluation is None
direction: [maximize] # [minimize, maximize]
objective: [exponentiated_rmse, exponentiated_rms_action_change] # [other metrics defined in base_experiment.py]
objective_bounds: [[0.0, 1.0], [0.0, 1.0]] # [bounds for each objective]. Worse value will be assigned if objective evaluation is None
direction: [maximize, maximize] # [minimize, maximize]
repetitions: 5 # number of samples of performance for each objective query
n_episodes: 5 # number of episodes to evaluate each policy
use_gpu: True
Expand Down
Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
hpo_config:

load_if_exists: True # this should set to True if hpo is run in parallel
objective: [exponentiated_rmse] # [other metrics defined in base_experiment.py]
objective_bounds: [[0.0, 1.0]] # [bounds for each objective]. Worse value will be assigned if objective evaluation is None
direction: [maximize] # [minimize, maximize]
objective: [exponentiated_rmse, exponentiated_rms_action_change] # [other metrics defined in base_experiment.py]
objective_bounds: [[0.0, 1.0], [0.0, 1.0]] # [bounds for each objective]. Worse value will be assigned if objective evaluation is None
direction: [maximize, maximize] # [minimize, maximize]
repetitions: 5 # number of samples of performance for each objective query
n_episodes: 5 # number of episodes to evaluate each policy
use_gpu: True
Expand All @@ -14,6 +14,18 @@ hpo_config:

# hyperparameters
hps_config:
horizon: 40
q_mpc: [5.0, 0.1, 5.0, 0.1, 0.5, 0.001]
r_mpc: [0.8, 0.8]
horizon: 25
q_mpc: [15, 0.1, 15, 0.1, 0.5, 0.01]
r_mpc: [15., 5.]
vizier_hps:
horizon: 30
q_mpc:
- 14.315870549815472
- 2.5426733145296656
- 15.0
- 0.0001
- 0.0001
- 0.0001
r_mpc:
- 15.0
- 6.471762097184253
Original file line number Diff line number Diff line change
Expand Up @@ -18,15 +18,15 @@ hpo_config:
r_lqr: [1.0, 1.0]
vizier_hps:
q_lqr:
- 14.974836994854666
- 1.6803329734409302
- 0.02535896270931672
- 0.00028863807214684776
- 1.1108878724895586
- 5.88529216699797
- 0.0001
r_lqr:
- 0.0003546601186005271
- 5.00397782633266
- 0.8618608985543565
- 0.980013664114415
- 0.0001
r_lqr:
- 1.2497823191792372
- 0.8638794170664649
optuna_hps:
q_lqr:
- 5.0
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -23,51 +23,34 @@ hpo_config:
d_coeff_tor: [20000., 20000., 12000.]
vizier_hps:
d_coeff_for:
- 2.129021744940595
- 0.4640573281692209
- 2.542887187784077
- 0.1890092870696659
- 1.0541122664300269
- 1.1247264394469974
d_coeff_tor:
- 14998.998579124276
- 10019.881571806687
- 10534.570451701942
- 14624.865780764232
- 14735.949237321409
- 12928.8956036557
i_coeff_for:
- 0.0014889448824393103
- 2.1744158095428565
- 0.0029573499100777104
- 0.001
- 0.4045145572372126
- 0.6961573899435679
i_coeff_tor:
- 441.54939925530545
- 0.5010238470068967
- 444.3856421179262
- 0.0
- 7.906897732216709
- 524.6539429699372
p_coeff_for:
- 4.886838283343341
- 4.608092291879853
- 4.996853766830539
- 0.4458780003496436
- 2.118873126448762
- 1.2386787893322404
p_coeff_tor:
- 50002.195370586196
- 79982.3047902415
- 50006.91012411862
- 64299.26234435173
- 73880.50880762804
- 59700.826209375475
optuna_hps:
d_coeff_for:
- 1.5604761716915811
- 1.3593133298420035
- 3.2553437457217855
d_coeff_tor:
- 12782.496926017255
- 13315.217714132743
- 13650.965688467855
i_coeff_for:
- 2.4249337311042356
- 0.5072768704878523
- 4.280513008919815
i_coeff_tor:
- 518.9194229378894
- 298.29551117414286
- 332.42926926363987
p_coeff_for:
- 4.553904304026884
- 3.439182803233737
- 4.778645189386438
p_coeff_tor:
- 68371.22038933045
- 69727.19131379195
- 68354.19711764912
p_coeff_for: [.4, .4, 1.25]
i_coeff_for: [.05, .05, .05]
d_coeff_for: [.2, .2, .5]

p_coeff_tor: [70000., 70000., 60000.]
i_coeff_tor: [.0, .0, 500.]
d_coeff_tor: [20000., 20000., 12000.]

0 comments on commit 5a9f21f

Please sign in to comment.