├── .idea ├── deps_arXiv2020.iml ├── inspectionProfiles │ └── profiles_settings.xml ├── modules.xml └── workspace.xml ├── Example_1 ├── double_integrator_DPC.py ├── double_integrator_eMPC.m ├── eMPC_di.m ├── test │ └── None.png └── test_control │ ├── DPC_abstract.pdf │ ├── DPC_abstract.png │ ├── DPC_simple_method.pdf │ ├── DPC_simple_method.png │ ├── cl_animation.gif │ ├── closed loop policy train.mp4 │ ├── closed loop policy training.gif │ ├── closed_loop_dpc.pdf │ ├── closed_loop_dpc.png │ ├── closed_loop_dpc_unstable.pdf │ ├── closed_loop_dpc_untuned.pdf │ ├── contraction.pdf │ ├── contraction_regions.pdf │ ├── deep_MPC_var2.png │ ├── dpc_policy.pdf │ ├── dpc_policy.png │ ├── empc_policy.pdf │ ├── empc_policy.png │ ├── integrator_best_model.pth │ ├── integrator_best_model_state_dict.pth │ ├── loss.pdf │ ├── phi_norm.pdf │ ├── policies_surfaces.pdf │ ├── policies_surfaces.png │ └── policy.pdf ├── Example_2 ├── figs │ ├── Example_2.pdf │ └── Example_2.png ├── ref_tracking_ODE.ipynb └── ref_tracking_ODE.py ├── Example_3 ├── CVXPY_linearMPC_quadcopter.py ├── figs │ ├── quadcopter_dpc_1.pdf │ ├── quadcopter_dpc_1.png │ └── quadcopter_dpc_2.pdf └── quad_3D_linearDPC.py ├── Example_4 ├── 2D_obstacle_avoidance_DPC.py ├── 2D_obstacle_avoidance_csadi.py └── figs │ ├── obstacle_1.pdf │ ├── obstacle_2.pdf │ ├── obstacle_3.pdf │ ├── obstacle_4.pdf │ └── obstacle_avoidance.PNG ├── Example_5 ├── Control_benchmarks │ ├── README.md │ ├── eMPC_complexity │ │ ├── eMPC_complexity.m │ │ ├── eMPC_policy1.m │ │ ├── eMPC_policy2.m │ │ ├── eMPC_policy4.m │ │ └── eMPC_policy6.m │ ├── eMPC_policy.m │ ├── model_lqi.m │ ├── model_lqr.m │ ├── model_mpc.asv │ ├── model_mpc.m │ ├── model_mpc_robust.m │ ├── model_mpc_stochastic.m │ ├── mygaussfit.m │ └── ss_model.mat ├── DPC_Control │ ├── DeepMPC_sysID_ctrl_sec_2_4.pdf │ ├── DeepMPC_sysID_ctrl_sec_2_4.py │ ├── DeepMPC_sysID_ctrl_sec_2_5.pdf │ ├── DeepMPC_sysID_ctrl_sec_2_5.py │ ├── DeepMPC_sysID_ctrl_sec_3_7.py │ ├── Trained_DeepMPCPolicy_N_1_sec_3_7.pt │ ├── Trained_DeepMPCPolicy_N_2_sec_3_7.pt │ ├── Trained_DeepMPCPolicy_N_4_sec_3_7.pt │ ├── Trained_DeepMPCPolicy_N_6_sec_3_7.pt │ ├── Trained_DeepMPCPolicy_N_8_sec_3_7.pt │ ├── Trained_DeepMPCPolicy_sec_3_4.pt │ ├── Trained_DeepMPCPolicy_sec_3_5.pt │ ├── performance_comparison_Tab4_nominal.png │ ├── performance_comparison_Tab4_uncertain.png │ └── plot_comparison.py ├── Models │ └── GroundTruthSSM.py ├── SystemID │ ├── csvs │ │ ├── gru_128.csv │ │ ├── gru_16.csv │ │ ├── gru_256.csv │ │ ├── gru_32.csv │ │ ├── gru_64.csv │ │ ├── gru_8.csv │ │ ├── lin_128.csv │ │ ├── lin_16.csv │ │ ├── lin_256.csv │ │ ├── lin_32.csv │ │ ├── lin_64.csv │ │ ├── lin_8.csv │ │ ├── rnn_128.csv │ │ ├── rnn_16.csv │ │ ├── rnn_256.csv │ │ ├── rnn_32.csv │ │ ├── rnn_64.csv │ │ ├── rnn_8.csv │ │ ├── ssm_128.csv │ │ ├── ssm_16.csv │ │ ├── ssm_256.csv │ │ ├── ssm_32.csv │ │ ├── ssm_64.csv │ │ └── ssm_8.csv │ ├── models │ │ ├── lin.pth │ │ ├── rnn.pth │ │ └── ssm_256.pth │ ├── results_and_analysis.py │ ├── sysid_exp.py │ └── system_id.py ├── TimeSeries │ └── disturb.mat ├── deep_RL_benchmarks │ ├── best_model │ │ ├── RL_model_best_A2C_constr.h5 │ │ ├── RL_model_best_ACKTR_constr.h5 │ │ └── RL_model_best_PPO2_constr.h5 │ ├── eval_best_RL.py │ └── toy_building.py └── figs │ ├── DeepMPC_simSysID_on_paper.pdf │ └── DeepMPC_simSysID_on_paper.png ├── Example_6 ├── figs │ ├── ampc_1.pdf │ ├── ampc_1.png │ ├── pvtol_dpc_cl1.pdf │ ├── pvtol_dpc_cl1.png │ └── pvtol_dpc_cl2.pdf ├── pvtol_aircraft_iMPC.m ├── vtol_aircraft_DPC_stabilize.py └── vtol_aircraft_aMPC.py ├── LICENSE ├── README.md └── environment.yml /.idea/deps_arXiv2020.iml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pnnl/deps_arXiv2020/HEAD/.idea/deps_arXiv2020.iml -------------------------------------------------------------------------------- /.idea/inspectionProfiles/profiles_settings.xml: 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