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pod2c

Partially-Observed Decoupled Data-based Control implementation on MuJoCo 200 Win64


The algorithm has two steps:

  1. Find the optimal control sequence in the deterministic system using arma-ilqr method.
  2. 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

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