which gpc version to use?

[stephentu]

Hi,

I'd like to try out Algorithm 1 in https://arxiv.org/pdf/1902.08721.pdf.

I see two files:
https://github.com/MinRegret/TigerControl/blob/master/tigercontrol/controllers/gpc.py
https://github.com/MinRegret/TigerControl/blob/master/tigercontrol/controllers/gpc_v2.py

Which version is recommended?

Thanks!

[paula-gradu]

Hello,

gpc.py is the default implementation (the file research/test_gpc_lqr.py contains an example of it being run on the double integrator system under sinusoidal noise). For a more jax-efficient variant, please see the corresponding _gpc.py agent in the jym library (also under this group).

However, we are actually in the process of revamping the library. We will finalize this by the end of the week. Please check back on https://github.com/MinRegret on Friday!

Please let us know if you have further questions!