Differentiable MPC in Chainer, developed as part of PFN summer internship 2019.

pfnet-research, updated 🕥 2022-08-23 18:05:03

Differentiable MPC in Chainer

Attempt to port mpc.pytorch to Chainer.

Disclaimer: PFN provides no warranty or support for this software. Use it at your own risk.

This software is developed as part of PFN summer internship 2019 and the main developer is Shun Arahata.

Overview of Differentiable MPC

overview

Install

$ pipenv install

Dependencies

This code has been tested using libraries below: * numpy = "1.17.2" * chainer = "6.3.0" * jupyter = "1.0.0" * matplotlib = "3.1.1" * jupytext = "1.2.4" * scipy = "1.3.1" * pathlib = "1.0.1" * torch = "1.2.0"

See also Pipfile.

Usage

$ pipenv run python env_dx/make_dataset.py $ pipenv run python env_dx/il_exp.py

Example Result

pendulum

References

  • [1] B. Amos, I. Jimenez, J. Sacks, B. Boots, and Z. Kolter. “Differentiable MPC for End-to-end Planning and Control” In NIPS'18 Proceedings of Advances in Neural Information Processing Systems. Available: https://arxiv.org/abs/1810.13400 . Experiment code: https://github.com/locuslab/differentiable-mpc

  • [2] Yuval Tassa, Nicolas Mansard and Emo Todorov. “Control-Limited Differential Dynamic Programming” ICRA'14 IEEE International Conference on Robotics and Automation. Available: https://homes.cs.washington.edu/~todorov/papers/TassaICRA14.pdf . Code: https://jp.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization

  • [3] Brandon Amos, and J. Zico Kolter, “OptNet: Differentiable Optimization as a Layer in Neural Networks” In ICML'17 Proceedings of the 34th International Conference on Machine Learning. Available: https://arxiv.org/abs/1703.00443 . Code: https://github.com/locuslab/qpth/ . Chainer-port: https://github.com/msakai/chainer-optnet

  • [4] Yuval Tassa, Tom Erez and Emanuel Todorov. “Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization” IROS'12 IEEE/RSJ International Conference on Intelligent Robots and Systems. Available: https://homes.cs.washington.edu/~todorov/papers/TassaIROS12.pdf .

Useful Links

LICENSE

MIT License (see the LICENSE file for details).

Note: Part of the code is derived from mpc.pytorch and differentiable-mpc which are also licensed under MIT License (see the LICENSE_THIRD_PARTY file for details). Also this package still uses PyTorch for fast batch LU factorization (torch.lu) and solving (torch.lu_solve).

Issues

Bump nbconvert from 5.6.0 to 6.5.1

opened on 2022-08-23 18:04:59 by dependabot[bot]

Bumps nbconvert from 5.6.0 to 6.5.1.

Release notes

Sourced from nbconvert's releases.

Release 6.5.1

No release notes provided.

6.5.0

What's Changed

New Contributors

Full Changelog: https://github.com/jupyter/nbconvert/compare/6.4.5...6.5

6.4.3

What's Changed

New Contributors

Full Changelog: https://github.com/jupyter/nbconvert/compare/6.4.2...6.4.3

6.4.0

What's Changed

New Contributors

... (truncated)

Commits


Dependabot compatibility score

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Bump mistune from 0.8.4 to 2.0.3

opened on 2022-07-29 23:04:32 by dependabot[bot]

Bumps mistune from 0.8.4 to 2.0.3.

Release notes

Sourced from mistune's releases.

Version 2.0.2

Fix escape_url via lepture/mistune#295

Version 2.0.1

Fix XSS for image link syntax.

Version 2.0.0

First release of Mistune v2.

Version 2.0.0 RC1

In this release, we have a Security Fix for harmful links.

Version 2.0.0 Alpha 1

This is the first release of v2. An alpha version for users to have a preview of the new mistune.

Changelog

Sourced from mistune's changelog.

Changelog

Here is the full history of mistune v2.

Version 2.0.4


Released on Jul 15, 2022

    

  • Fix url plugin in <a> tag
    • 

  • Fix * formatting
    • 



Version 2.0.3

Released on Jun 27, 2022

  • Fix table plugin
  • Security fix for CVE-2022-34749

Version 2.0.2


Released on Jan 14, 2022

Fix escape_url


Version 2.0.1

Released on Dec 30, 2021

XSS fix for image link syntax.

Version 2.0.0


Released on Dec 5, 2021

This is the first non-alpha release of mistune v2.


Version 2.0.0rc1

Released on Feb 16, 2021

Version 2.0.0a6


</tr></table>

... (truncated)

Commits
  • 3f422f1 Version bump 2.0.3
  • a6d4321 Fix asteris emphasis regex CVE-2022-34749
  • 5638e46 Merge pull request #307 from jieter/patch-1
  • 0eba471 Fix typo in guide.rst
  • 61e9337 Fix table plugin
  • 76dec68 Add documentation for renderer heading when TOC enabled
  • 799cd11 Version bump 2.0.2
  • babb0cf Merge pull request #295 from dairiki/bug.escape_url
  • fc2cd53 Make mistune.util.escape_url less aggressive
  • 3e8d352 Version bump 2.0.1
  • Additional commits viewable in compare view


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Bump notebook from 6.0.1 to 6.4.12

opened on 2022-06-16 23:42:55 by dependabot[bot]

Bumps notebook from 6.0.1 to 6.4.12.

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Bump ipython from 7.8.0 to 7.16.3

opened on 2022-01-21 20:08:52 by dependabot[bot]

Bumps ipython from 7.8.0 to 7.16.3.

Commits


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GitHub Repository

mpc model-predictive-control lqr optimal-control trajectory-optimization chainer deep-learning machine-learning