Variables
float	dt = 0.05

dictionary	model_parameters = {}

list	x0 = [0,0,0,0,np.pi,np.pi]

tuple	S0 = np.eye(6)

tuple	measurement_noise = np.diag(np.ones(len(x0))0.01*2)

tuple	plant = DoubleCartpole(model_parameters,x0,S0,dt,measurement_noise)

tuple	draw_dcp = DoubleCartpoleDraw(plant,0.033)

list	angle_dims = [4,5]

tuple	policy = RBFPolicy(x0,S0,[20],100, angle_dims)

dictionary	cost_parameters = {}

tuple	cost = partial(double_cartpole_loss, params=cost_parameters)

float	T = 5.0

int	J = 500

int	N = 15

tuple	learner = PILCO(plant, policy, cost, angle_dims, async_plant=False)

Function Documentation

def double_cartpole_run.signal_handler	(	signal,
		frame
	)

Variable Documentation

list double_cartpole_run.angle_dims = [4,5]

tuple double_cartpole_run.cost = partial(double_cartpole_loss, params=cost_parameters)

dictionary double_cartpole_run.cost_parameters = {}

tuple double_cartpole_run.draw_dcp = DoubleCartpoleDraw(plant,0.033)

float double_cartpole_run.dt = 0.05

int double_cartpole_run.J = 500

tuple double_cartpole_run.learner = PILCO(plant, policy, cost, angle_dims, async_plant=False)

tuple double_cartpole_run.measurement_noise = np.diag(np.ones(len(x0))*0.01**2)

dictionary double_cartpole_run.model_parameters = {}

int double_cartpole_run.N = 15

tuple double_cartpole_run.plant = DoubleCartpole(model_parameters,x0,S0,dt,measurement_noise)

tuple double_cartpole_run.policy = RBFPolicy(x0,S0,[20],100, angle_dims)

tuple double_cartpole_run.S0 = np.eye(6)

float double_cartpole_run.T = 5.0

list double_cartpole_run.x0 = [0,0,0,0,np.pi,np.pi]