soumyarani / end-to-end-guided-rl-using-online-learning Goto Github PK

Simulation results: Control Task is to Swingup and Balance the pole:

a)Control of Cartpole with Augmented Random Search(a Model Free RL):
Pole Fails to stay in the upright position after swingup using ARS alone

b)Control of Cartpole with Augmented Random Search + Online Learning MPC:
Pole balances forever, online Learning guides the Augmented Random Search (RL policy)