Adding new updated acados results for none experiments

Federico-PizarroBejarano · Nov 1, 2023 · 68d2ccb · 68d2ccb
1 parent 78dfb38
commit 68d2ccb
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Showing 238 changed files with 18,948 additions and 18,934 deletions.
diff --git a/experiments/mpsc/config_overrides/quadrotor_3D/ppo_quadrotor_3D.yaml b/experiments/mpsc/config_overrides/quadrotor_3D/ppo_quadrotor_3D.yaml
@@ -17,6 +17,7 @@ algo_config:
   max_env_steps: 1000000
   rollout_batch_size: 1
   rollout_steps: 1000
+  eval_batch_size: 25
 
   # misc
   log_interval: 10000

diff --git a/experiments/mpsc/models/rl_models/quadrotor_3D/track/ppo/none/config.yaml b/experiments/mpsc/models/rl_models/quadrotor_3D/track/ppo/none/config.yaml
@@ -53,15 +53,15 @@ output_dir: ./models/rl_models/quadrotor_3D/track/ppo/none/
 overrides:
 - ./config_overrides/quadrotor_3D/ppo_quadrotor_3D.yaml
 - ./config_overrides/quadrotor_3D/quadrotor_3D_track.yaml
-- ./config_overrides/quadrotor_3D/nl_mpsc_quadrotor_3D_linear.yaml
+- ./config_overrides/quadrotor_3D/nl_mpsc_quadrotor_3D.yaml
 restore: null
 safety_filter: nl_mpsc
 seed: 2
 sf_config:
   cost_function: one_step_cost
   decay_factor: 0.85
-  horizon: 5
-  integration_algo: LTI
+  horizon: 20
+  integration_algo: rk4
   mpsc_cost_horizon: 2
   n_samples: 6000
   prior_info:
@@ -85,8 +85,9 @@ sf_config:
   - 90
   slack_cost: 250
   soften_constraints: true
+  use_acados: true
   use_terminal_set: false
-  warmstart: false
+  warmstart: true
 tag: temp
 task: quadrotor
 task_config: