├── LICENSE ├── README.md ├── download_trained_models.sh ├── figs ├── 000_MPCRLPolicy_8agents.gif └── 072_MPCRLPolicy_10agents.gif ├── mpc_rl_collision_avoidance ├── algorithms │ └── ppo2 │ │ └── ppo2mpc.py ├── external │ └── stable_baselines │ │ ├── __init__.py │ │ ├── a2c │ │ ├── __init__.py │ │ ├── a2c.py │ │ ├── run_atari.py │ │ └── utils.py │ │ ├── acer │ │ ├── __init__.py │ │ ├── acer_simple.py │ │ ├── buffer.py │ │ └── run_atari.py │ │ ├── acktr │ │ ├── __init__.py │ │ ├── acktr.py │ │ ├── kfac.py │ │ ├── kfac_utils.py │ │ └── run_atari.py │ │ ├── bench │ │ ├── __init__.py │ │ └── monitor.py │ │ ├── common │ │ ├── __init__.py │ │ ├── atari_wrappers.py │ │ ├── base_class.py │ │ ├── bit_flipping_env.py │ │ ├── buffers.py │ │ ├── callbacks.py │ │ ├── cg.py │ │ ├── cmd_util.py │ │ ├── console_util.py │ │ ├── dataset.py │ │ ├── distributions.py │ │ ├── env_checker.py │ │ ├── evaluation.py │ │ ├── identity_env.py │ │ ├── input.py │ │ ├── math_util.py │ │ ├── misc_util.py │ │ ├── mpi_adam.py │ │ ├── mpi_moments.py │ │ ├── mpi_running_mean_std.py │ │ ├── noise.py │ │ ├── policies.py │ │ ├── runners.py │ │ ├── running_mean_std.py │ │ ├── save_util.py │ │ ├── schedules.py │ │ ├── segment_tree.py │ │ ├── tf_layers.py │ │ ├── tf_util.py │ │ ├── tile_images.py │ │ └── vec_env │ │ │ ├── __init__.py │ │ │ ├── base_vec_env.py │ │ │ ├── dummy_vec_env.py │ │ │ ├── subproc_vec_env.py │ │ │ ├── util.py │ │ │ ├── vec_check_nan.py │ │ │ ├── vec_frame_stack.py │ │ │ ├── vec_normalize.py │ │ │ └── vec_video_recorder.py │ │ ├── ddpg │ │ ├── __init__.py │ │ ├── ddpg.py │ │ ├── main.py │ │ ├── noise.py │ │ └── policies.py │ │ ├── deepq │ │ ├── __init__.py │ │ ├── build_graph.py │ │ ├── dqn.py │ │ ├── experiments │ │ │ ├── __init__.py │ │ │ ├── custom_cartpole.py │ │ │ ├── enjoy_cartpole.py │ │ │ ├── enjoy_mountaincar.py │ │ │ ├── run_atari.py │ │ │ ├── train_cartpole.py │ │ │ └── train_mountaincar.py │ │ ├── policies.py │ │ └── replay_buffer.py │ │ ├── gail │ │ ├── __init__.py │ │ ├── adversary.py │ │ ├── dataset │ │ │ ├── __init__.py │ │ │ ├── dataset.py │ │ │ └── record_expert.py │ │ └── model.py │ │ ├── her │ │ ├── __init__.py │ │ ├── her.py │ │ ├── replay_buffer.py │ │ └── utils.py │ │ ├── logger.py │ │ ├── ppo1 │ │ ├── __init__.py │ │ ├── pposgd_simple.py │ │ ├── run_atari.py │ │ ├── run_mujoco.py │ │ └── run_robotics.py │ │ ├── ppo2 │ │ ├── __init__.py │ │ ├── ppo2.py │ │ ├── run_atari.py │ │ └── run_mujoco.py │ │ ├── py.typed │ │ ├── results_plotter.py │ │ ├── sac │ │ ├── __init__.py │ │ ├── policies.py │ │ └── sac.py │ │ ├── td3 │ │ ├── __init__.py │ │ ├── policies.py │ │ └── td3.py │ │ └── trpo_mpi │ │ ├── __init__.py │ │ ├── run_atari.py │ │ ├── run_mujoco.py │ │ ├── trpo_mpi.py │ │ └── utils.py ├── hyperparams │ ├── a2c.yml │ ├── acer.yml │ ├── acktr.yml │ ├── ddpg.yml │ ├── dqn.yml │ ├── her.yml │ ├── ppo2-mpc.yml │ ├── ppo2.yml │ ├── sac-mpc.yml │ ├── sac.yml │ ├── td3.yml │ └── trpo.yml ├── mpc │ ├── dynamic_scenario.m │ ├── inequality_constr_scenario.m │ ├── objective_scenario.m │ ├── scenario.m │ └── sigmoid.m ├── policies │ ├── LearningMPCPolicy.py │ ├── MPCPolicy.py │ ├── MPCRLPolicy.py │ └── __init__.py ├── scenarios │ └── train_cases.py └── utils │ ├── compute_performance_results.py │ ├── hyperparams_opt.py │ └── tf_util.py ├── setup.py ├── test-mpc.py ├── test.py ├── test.sh ├── test_approx.py ├── test_ga3c.py ├── test_homogeneous.py ├── train.py └── utils ├── __init__.py ├── benchmark.py ├── callbacks.py ├── hyperparams_opt.py ├── import_envs.py ├── noise.py ├── plot.py ├── record_video.py ├── utils.py └── wrappers.py /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tud-amr/go-mpc/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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