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[P] Batch pytorch implementation of model predictive path integral control (MPPI)

Repository: https://github.com/LemonPi/pytorch_mppi

I made a pytorch implementation of the algorithm from Information theoretic MPC for model-based reinforcement learning that should be a better drop-in for MPC if you’re using random shooting or the cross entropy method (CEM)

Some features – batch sampling of trajectories (optionally on the GPU) – general to problem dimension – only requires approximate dynamics, which can be implemented as a network (MPPI originally requires sampling from the true dynamics, but this formulation uses importance sampling)

submitted by /u/LemonByte
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Toronto AI is a social and collaborative hub to unite AI innovators of Toronto and surrounding areas. We explore AI technologies in digital art and music, healthcare, marketing, fintech, vr, robotics and more. Toronto AI was founded by Dave MacDonald and Patrick O'Mara.