Benchmark for Robustness Tests of Control Alrogithms

Overview

Benchmark for Robustness Tests of Control Alrogithms

This repository contains classical control benchmarks for evaluating robustnesses of control and reinforcement learning algorithms. It can be used as zero-shot control performence evaluations. It is built upon OpenAI Gym.

Installation

Clone repository, then 'pip install -e .' or 'pip3 install -e .' based on your environment.

Or you can manually install dependencies:

- numpy
- gym

How to Run Example

You can run our test example by:

python unstable_pendulum.py

It's a inverted pendulum in gym environment. The sample results of the four different controllers are shown below:

Sine wave side wind Random side wind

How to Use

Simply import environments from 'unstable_gym'. For examples, for inverted pendulum:

from unstable_gym.unstable_pendulum import UnstablePendulumEnv
env = UnstablePendulumEnv(wind_type="sine", max_wind=1.0)

obs = env.reset()
for step in range(500):
    action = env.action_space.sample()
    nobs, reward, done, info = env.step(action)
    env.render()

There are two options for "wind type":

  1. "sine" : sine wave side wind
  2. "random" : random side wind

You can also adjust the magnitude of the side wind (in [N]): "max_wind"

Related Works

You can test the robustness of MPPI and Smooth_MPPI

Owner
Kim Taekyung
Autonomous driving, robotics researcher @ ADD; B.S. @ DGIST; 1st winner in Samsung Robot Hackathon 2018,2019.
Kim Taekyung
FingerPy is a algorithm to measure, analyse and monitor heart-beat using only a video of the user's finger on a mobile cellphone camera.

FingerPy is a algorithm using python, scipy and fft to measure, analyse and monitor heart-beat using only a video of the user's finger on a m

Thiago S. Brasil 37 Oct 21, 2022
Algorithms and utilities for SAR sensors

WARNING: THIS CODE IS NOT READY FOR USE Sarsen Algorithms and utilities for SAR sensors Objectives Be faster and simpler than ESA SNAP and cloud nativ

B-Open 201 Dec 27, 2022
Implementation of core NuPIC algorithms in C++

NuPIC Core This repository contains the C++ source code for the Numenta Platform for Intelligent Computing (NuPIC)

Numenta 270 Nov 19, 2022
Policy Gradient Algorithms (One Step Actor Critic & PPO) from scratch using Numpy

Policy Gradient Algorithms From Scratch (NumPy) This repository showcases two policy gradient algorithms (One Step Actor Critic and Proximal Policy Op

1 Jan 17, 2022
Exact algorithm for computing two-sided statistical tolerance intervals under a normal distribution assumption using Python.

norm-tol-int Exact algorithm for computing two-sided statistical tolerance intervals under a normal distribution assumption using Python. Methods The

Jed Ludlow 1 Jan 06, 2022
Python sample codes for robotics algorithms.

PythonRobotics Python codes for robotics algorithm. Table of Contents What is this? Requirements Documentation How to use Localization Extended Kalman

Atsushi Sakai 17.2k Jan 01, 2023
All Algorithms implemented in Python

The Algorithms - Python All algorithms implemented in Python (for education) These implementations are for learning purposes only. Therefore they may

The Algorithms 150.6k Jan 03, 2023
Distributed algorithms, reimplemented for fun and practice

Distributed Algorithms Playground for reimplementing and experimenting with algorithms for distributed computing. Usage Running the code for Ring-AllR

Mahan Tourkaman 1 Oct 16, 2022
PICO is an algorithm for exploiting Reinforcement Learning (RL) on Multi-agent Path Finding tasks.

PICO is an algorithm for exploiting Reinforcement Learning (RL) on Multi-agent Path Finding tasks. It is developed by the Multi-Agent Artificial Intel

21 Dec 20, 2022
:computer: Data Structures and Algorithms in Python

Algorithms in Python Implementations of a few algorithms and datastructures for fun and profit! Completed Karatsuba Multiplication Basic Sorting Rabin

Prakhar Srivastav 2.9k Jan 01, 2023
Sorting Algorithm Visualiser using pygame

SortingVisualiser Sorting Algorithm Visualiser using pygame Features Visualisation of some traditional sorting algorithms like quicksort and bubblesor

4 Sep 05, 2021
Esse repositório tem como finalidade expor os trabalhos feitos para disciplina de Algoritmos computacionais e estruturais do CEFET-RJ no ano letivo de 2021.

Exercícios de Python 🐍 Esse repositório tem como finalidade expor os trabalhos feitos para disciplina de Algoritmos computacionais e estruturais do C

Rafaela Bezerra de Figueiredo 1 Nov 20, 2021
Apriori - An algorithm for frequent item set mining and association rule learning over relational databases

Apriori Apriori is an algorithm for frequent item set mining and association rul

Mohammad Nazari 8 Jan 10, 2022
A calculator to test numbers against the collatz conjecture

The Collatz Calculator This is an algorithm custom built by Kyle Dickey, used to test numbers against the simple rules of the Collatz Conjecture. Get

Kyle Dickey 2 Jun 14, 2022
BCI datasets and algorithms

Brainda Welcome! First and foremost, Welcome! Thank you for visiting the Brainda repository which was initially released at this repo and reorganized

52 Jan 04, 2023
Genetic algorithm which evolves aoe2 DE ai scripts

AlphaScripter Use the power of genetic algorithms to evolve AI scripts for Age of Empires II : Definitive Edition. For now this package runs in AOC Us

6 Nov 04, 2022
Python Sorted Container Types: Sorted List, Sorted Dict, and Sorted Set

Python Sorted Containers Sorted Containers is an Apache2 licensed sorted collections library, written in pure-Python, and fast as C-extensions. Python

Grant Jenks 2.8k Jan 04, 2023
A Python project for optimizing the 8 Queens Puzzle using the Genetic Algorithm implemented in PyGAD.

8QueensGenetic A Python project for optimizing the 8 Queens Puzzle using the Genetic Algorithm implemented in PyGAD. The project uses the Kivy cross-p

Ahmed Gad 16 Nov 13, 2022
Parameterising Simulated Annealing for the Travelling Salesman Problem

Parameterising Simulated Annealing for the Travelling Salesman Problem Abstract The Travelling Salesman Problem is a well known NP-Hard problem. Given

Gary Sun 55 Jun 15, 2022
Algorithms-in-Python - Programs related to DSA in Python for placement practice

Algorithms-in-Python Programs related to DSA in Python for placement practice CO

MAINAK CHAUDHURI 2 Feb 02, 2022