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MPC GPS#81

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Commits on Dec 30, 2016

• Hingle L2 loss for cost obstacle. Experiment on Box2D point_mass.

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Commits on Jan 7, 2017

• Compute mu, sigma of marginal distribution p(x) and test it gradient

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• test_box2d custom sample

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• Merge branch 'mpc_gps' of https://github.com/thobotics/gps into mpc_gps

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Commits on Jan 8, 2017

• Surogate cost, regularized for PD Quu, non line search

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Commits on Jan 11, 2017

• Using MPC trajectory distribution with surogate cost.

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Commits on Jan 12, 2017

• Real MPC (Online Optimization) follow offline trajectory.

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Commits on Jan 13, 2017

• Using MPC when sample to train trajectory distribution. Tested on Box2D PointMass

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• Small fix: Added check for using mpc in algorithm.py

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Commits on Jan 14, 2017

• Train update MPC use previous sample to evaluate cost.

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Commits on Jan 27, 2017

• Fix pointmass return nan of closest point of obstacle, this make nan cost

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Commits on Jan 28, 2017

• It work for both Arm and Pointmass by solving MPC unconstrained problem.

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Commits on Jan 31, 2017

• Add DESIGN_DOC for mpc_gps trajectory optimization

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Commits on Feb 9, 2017

• Update document for fitting dynamics from sample

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Commits on Feb 11, 2017

• Merge branch 'master' of https://github.com/cbfinn/gps

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Commits on Feb 12, 2017

• Update README.md

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• Update fomula of Sigma in gmm

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• Merge branch 'master' of https://github.com/thobotics/gps

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• Update DESIGN_DOC

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Commits on Feb 16, 2017

• Seperate Pointmass non-obstacle and obstacle world

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Commits on Feb 18, 2017

• Create a point mass obstacle world and test with BADMM.

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Commits on Feb 23, 2017

• Check use_mpc key exists in hyperparams

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Commits on Mar 10, 2017

• First commit for training mobile robot using GPS.

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Commits on Mar 11, 2017

• Small fix for cost_translation_table_ caused Seg fault

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Commits on Mar 18, 2017

• Trained work when using OMNI direction mobile robot.

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Commits on Mar 23, 2017

• ** Completed BADMM MPC_GPS surogate cost. Tested by box2d_pointmass_badmm

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• Experiment on turtlebot_badmm one obstacle world.

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Commits on Mar 25, 2017

• Use 1d raw laser range sensor as observation source.

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• ** Successful train (2 initial state) and test (check note git status) for avoiding obstacle task.

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Commits on Mar 28, 2017

• Update video for testing phase

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• Update video for testing phase

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Commits on Apr 1, 2017

• ** DIFF Mobile robot move in hall way

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• Merge branch 'mpc_gps' of https://github.com/thobotics/gps into mpc_gps

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• Update link for turtlebot (differential drive) move in hallway.

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Commits on Apr 4, 2017

• Clean up

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• Merge branch 'mpc_gps' of https://github.com/thobotics/gps into mpc_gps

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• Remove junk file

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• Merge branch 'mpc_gps' and edit README for pull request.

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• Reset cost_state

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• Merge branch 'master' of https://github.com/cbfinn/gps

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Commits on Apr 5, 2017

• Update cost obstacle config

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• Add reference to MPC GPS

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• Remove junk worlds and maps of turtlebot

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• Restore pr2_gazebo launch file

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Commits on Apr 6, 2017

• Update camera sensor

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Commits on Apr 7, 2017

• Change weight of cost_obstacle and initial state.

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Commits on May 31, 2017

• Show iLQG and MPC Plan on RVIZ

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Commits on Jan 31, 2018

• Merge branch 'master' of https://github.com/cbfinn/gps

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Commits on Feb 27, 2018

• Publish nearest obstacle points

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• Agent turtlebot mpepc.

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Commits on Feb 9, 2021

• Update README.md

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• Update README.md

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