https://github.com/linesd/pilco-disentangling-uncertainty

Disentangling Sources of Uncertainty for Active Exploration (Reinforcement Learning)
https://github.com/linesd/pilco-disentangling-uncertainty

cart-double-pendulum cart-pole control control-systems disentangling-sources dynamical-systems gaussian-processes learning-control machine-learning monte-carlo-samples pendulum pilco probabilistic-inference reinforcement-learning reinforcement-learning-algorithms uncertainty

Last synced: 3 months ago
JSON representation

Disentangling Sources of Uncertainty for Active Exploration (Reinforcement Learning)

• Host: GitHub
• URL: https://github.com/linesd/pilco-disentangling-uncertainty
• Owner: linesd
• License: other
• Created: 2019-05-22T10:38:33.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2019-12-16T10:42:39.000Z (almost 6 years ago)
• Last Synced: 2025-06-08T12:38:13.467Z (4 months ago)
• Topics: cart-double-pendulum, cart-pole, control, control-systems, disentangling-sources, dynamical-systems, gaussian-processes, learning-control, machine-learning, monte-carlo-samples, pendulum, pilco, probabilistic-inference, reinforcement-learning, reinforcement-learning-algorithms, uncertainty
• Language: MATLAB
• Homepage:
• Size: 140 MB
• Stars: 8
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: license.txt

Awesome Lists containing this project

README

          
# PILCO - disentangling sources of uncertainty

This repository contains the orgininal PILCO MATLAB code (see pilco_readme.txt and license) with added functionality that disentangles the sources of uncertainty in the cost function for a given policy by Monte Carlo sampling.

Uncertainty analysis implemented for the following scenarios:

* Pendulum

* Cart-Pole

* Pendubot

* Cart-Double-Pendulum

## Run 

Scenarios can be run from from the scenarios folder:

* pendulum_learn.m

* cartPole_learn.m

* pendubot_learn.m

* cartDouble_learn.m

Set the number of Monte Carlo samples in the scenario settings files.

## Plot

Plots of the Monte Carlo samples and uncertainty decomposition can be made for each environment from the scripts in the uncertainty_plots folder.

## Output

example plots for the **pendubot scenario**:

![](imgs/pen_MC_rollout_Ep_40_Dim_3.png)

![](imgs/pen_uncertainty.png)

![](imgs/pen_uncertainty_norm.png)

example plots for the **cartDoublePendulum scenario**:

![](imgs/cdp_MC_rollout_Ep_80_Dim_6.png)

![](imgs/cdp_uncertainty.png)

![](imgs/cdp_uncertainty_normalised.png)