Source code for "Deep Variational Koopman Models: Inferring Koopman Observations for Uncertainty-Aware Dynamics Modeling and Control" from IJCAI 2019. The paper can be found here.

A description of the individual files is given below.

• variational_koopman_model.py - script for defining architecture of and constructing Deep Variational Koopman models for training.
• train_variational_koopman.py - training script for Deep Variational Koopman models.
• replay_memory.py - script for loading and processing data prior to and during training.
• utils.py - contains functions for visualizing performance of trained models and performing MPC rollouts.
• controller.py - script for performing DDP (essentially iLQR) for optimizing action sequences.

To train a Deep Variational Koopman model on data from the inverted pendulum environment with the model architecture used in the experiments within the paper, run train_variational_koopman.py with the following arguments:

python3 train_variational_koopman.py --seq_length 16 --n_trials 20 --n_subseq 220 --kl_weight 0.1 --extractor_size 64 64 --inference_size 64 64 --prior_size 64 32

This will extract data from 20 trials within the inverted pendulum environment, where each trial is 256 time steps in length and actions are selected randomly.

To train a model and subsequently incorporate it into MPC, run the above command and include the argument --ilqr True. This will train a model, perform n_trials/10 MPC rollouts using the trained model, then incorporate the data from the rollouts into the training/validation sets and train a new model on the full dataset. This process will terminate once a reward threshold is reached.

To train models on data from different environments, include the argument --domain_name (domain_name), where (domain_name) is the name of the associated environment, such as --domain_name CartPole-v1. Currently it is not possible to perform MPC with any environment other than inverted pendulum.