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View Code? Open in Web Editor NEWSafe Exploration with MPC and Gaussian process models
License: MIT License
Safe Exploration with MPC and Gaussian process models
License: MIT License
A lot of the tests for the gpytorch-based GP are failing right now in state_space_model . Not sure if I misspecified the required packages or if there is something else going on.
Depends on #1
Should be as easy as running 2to3
once tests are setup properly
Might be good to use an automated tool for this
https://pypi.org/project/autopep8/
https://pypi.org/project/black/
Hello,
Thanks for maintaining this repository!
While I am running a script python run.py --scenario_config journal_experiment_configs/cart_pole_rl_cautious_mpc_nperf=5.py
I am getting the below error msg.
Traceback (most recent call last):
File "run.py", line 95, in <module>
run_scenario(args)
File "run.py", line 86, in run_scenario
run_episodic(conf)
File "/Users/junhyeokahn/Repository/safe-exploration/safe_exploration/episode_runner.py", line 65, in run_episodic
obs_frequency=conf.obs_frequency)
File "/Users/junhyeokahn/Repository/safe-exploration/safe_exploration/episode_runner.py", line 160, in do_rollout
action, exit_code = solver.get_action(state) # ,lqr_only = True)
File "/Users/junhyeokahn/Repository/safe-exploration/safe_exploration/cautious_mpc.py", line 247, in get_action
return self._get_solution(sol, crash, x0_mu, k_fb_0, verbose)
File "/Users/junhyeokahn/Repository/safe-exploration/safe_exploration/cautious_mpc.py", line 284, in _get_solution
u_apply, exit_code = self._get_old_solution(p_0)
File "/Users/junhyeokahn/Repository/safe-exploration/safe_exploration/cautious_mpc.py", line 318, in _get_old_solution
return u_apply.reshape(self.n_u, ), exit_code
File "/Users/junhyeokahn/.venv/safe_exploration/lib/python3.7/site-packages/casadi/casadi.py", line 7459, in reshape
return _casadi.reshape(self,arg)
NotImplementedError: Wrong number or type of arguments for overloaded function 'reshape'.
Possible prototypes are:
reshape(Sparsity,(int,int))
reshape(Sparsity,Sparsity)
reshape(DM,(int,int))
reshape(DM,Sparsity)
reshape(SX,(int,int))
reshape(SX,Sparsity)
reshape(MX,(int,int))
reshape(MX,Sparsity)
reshape(Sparsity,int,int)
reshape(DM,int,int)
reshape(SX,int,int)
reshape(MX,int,int)
You have: '(DM,int)'
Could you help me how to fix this?
Especially in environments.py, possibly other files.
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