Overview

This repo is the not very clean implementation of our ICRA 2022 paper:

Optimal Control via Combined Inference and Numerical Optimization

Note: I use this repo as a sandbox for ideas. To use ICRA22 paper implementation and results clone the ICRA22 branch.

Dependencies

To build the following dependencies are required:

• Eigen3
• Gtest (Cloned and built by FetchContent)
• MuJoCo >= 2.2
• GCC >= 8 compiler for both Mujoco and OpenMP

Instruction

• Clone the repo.
• Make sure glfw and Mujoco are installed so cmake can link to it.
• Build

cd OptimisationBasedControl
mkdir build-release && cd build-release
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j nThreads

Cite

@article{layeghi2021optimal,
  title={Optimal Control via Combined Inference and Numerical Optimization},
  author={Layeghi, Daniel and Tonneau, Steve and Mistry, Michael},
  journal={arXiv preprint arXiv:2109.11361},
  year={2021}
}