Variables
float	dt = 0.1

dictionary	model_parameters = {}

list	x0 = [0,0,0,0]

tuple	S0 = np.eye(4)

list	maxU = [10]

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

tuple	plant = SerialPlant(model_parameters,x0,S0,dt,measurement_noise,state_indices=[0,2,3,1],maxU=maxU,port='/dev/ttyACM0')

tuple	draw_cp = CartpoleDraw(plant,0.033)

list	angle_dims = [3]

tuple	policy = RBFPolicy(x0,S0,maxU,10, angle_dims)

dictionary	cost_parameters = {}

tuple	cost = partial(cartpole_loss, params=cost_parameters)

float	T = 4.0

int	J = 30

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

list	X = []

list	Y = []

tuple	n_episodes = len(learner.experience.states)

tuple	x = np.array(learner.experience.states[i])

tuple	u = np.array(learner.experience.actions[i])

tuple	x_ = gTrig_np(x, learner.angle_idims)

Function Documentation

def kusanagi.examples.cartpole.cartpole_run_serial.signal_handler	(	signal,
		frame
	)

Variable Documentation

list kusanagi.examples.cartpole.cartpole_run_serial.angle_dims = [3]

tuple kusanagi.examples.cartpole.cartpole_run_serial.cost = partial(cartpole_loss, params=cost_parameters)

dictionary kusanagi.examples.cartpole.cartpole_run_serial.cost_parameters = {}

tuple kusanagi.examples.cartpole.cartpole_run_serial.draw_cp = CartpoleDraw(plant,0.033)

float kusanagi.examples.cartpole.cartpole_run_serial.dt = 0.1

int kusanagi.examples.cartpole.cartpole_run_serial.J = 30

tuple kusanagi.examples.cartpole.cartpole_run_serial.learner = PILCO(plant, policy, cost, angle_dims, async_plant=False)

list kusanagi.examples.cartpole.cartpole_run_serial.maxU = [10]

tuple kusanagi.examples.cartpole.cartpole_run_serial.measurement_noise = np.diag(np.ones(len(x0))*0.01**2)

dictionary kusanagi.examples.cartpole.cartpole_run_serial.model_parameters = {}

tuple kusanagi.examples.cartpole.cartpole_run_serial.n_episodes = len(learner.experience.states)

tuple kusanagi.examples.cartpole.cartpole_run_serial.plant = SerialPlant(model_parameters,x0,S0,dt,measurement_noise,state_indices=[0,2,3,1],maxU=maxU,port='/dev/ttyACM0')

tuple kusanagi.examples.cartpole.cartpole_run_serial.policy = RBFPolicy(x0,S0,maxU,10, angle_dims)

tuple kusanagi.examples.cartpole.cartpole_run_serial.S0 = np.eye(4)

float kusanagi.examples.cartpole.cartpole_run_serial.T = 4.0

tuple kusanagi.examples.cartpole.cartpole_run_serial.u = np.array(learner.experience.actions[i])

tuple kusanagi.examples.cartpole.cartpole_run_serial.X = []

tuple kusanagi.examples.cartpole.cartpole_run_serial.x = np.array(learner.experience.states[i])

tuple kusanagi.examples.cartpole.cartpole_run_serial.x0 = [0,0,0,0]

tuple kusanagi.examples.cartpole.cartpole_run_serial.x_ = gTrig_np(x, learner.angle_idims)

tuple kusanagi.examples.cartpole.cartpole_run_serial.Y = []