Partially-Observed Decoupled Data-based Control implementation on MuJoCo 200 Win64
The algorithm has two steps:
- Find the optimal control sequence in the deterministic system using arma-ilqr method.
- Wrap a linear local feedback policy around the openloop nominal trajectory using arma-lqg method.
Requirements
- Matlab 2018 or later
- MuJoCo 200 Windows x64 version