pod2c

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

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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