Skip to content

reinforcement learning by Policy Improvement with Path Integrals (PI2)

Notifications You must be signed in to change notification settings

CarlDegio/PI2-DMPs

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

6 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

PI2-DMPs

使用强化学习的方法PI2更新DMPs以实现轨迹模仿。

dmp.py实现了DMPs中的仿真,并且可以拟合轨迹,给出了运行斜坡信号的例子。

PI2Learning实现了PI2学习与更新,可以按照奖励(cost)规则实现最小化cost的轨迹,示例设计了viapoint的模式,即0.3s时尽可能通过y=0.1。

细节见doc.pdf

About

reinforcement learning by Policy Improvement with Path Integrals (PI2)

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published