pilco

Learn to balance baby.

Roadmap

Rename this repo. Candidates:

• Talos
• PRL
• IRL (Inference for RL)

Priorities

• Run on more environments: Cartpole, Mountaincar
• Tensor shapes on all methods

Clean up current code

• Define documentation layout
• Docstrings - Sphinx
• Doctest?
• Remove all hacky stuff, like hard coded tensors
• Clean up pendulum.py: learning-dynamics, objective, optimisation, plotting.
• Batching in calls of our agents, policies and costs. Start with policies.
• Migrate to gpflow.
• Feasible/Initialisation space - this needs more specification, included it so we don't forget.

Example notebooks

• Pendulum notebook

Write derivations, including complexity

• Moment matching

Profiling

• I have no clue how profiling works, let's research into how we should go about it

Write tests (especially Monte Carlo - maybe one test for all moment matching)

• EQAgent
• EQCost
• Transforms
• EQPolicy and TransformedPolicy
• Util (cholesky update)

Run on other environments

• Deepmind Control suite
• OpenAI gym
• Cartpole
• Mountaincar
• Double pendulum
• Lunar lander

Control something real

• Cartpole swing
• Lego mindstorms
• Ask robotics faculty

Future algorithms

• Non-greedy exploration (see the DL-algo)
• Efficient Learning of Dynamics with an information based criterion (IRL)
• Posterior Sampling for RL
• Deep PILCO
• Embed to control
• PlaNet