GPS

Please check the mpc_gps branch for the reimplementation of MPC-GPS paper!

Demo

1. Hallway

https://youtu.be/4h49wDTnrxw?list=PLeH0h5k_xzT5Rxuqkb2ZHuNJTIqAc76qN

2. 3 obstacle test

https://youtu.be/xaNUwspDp2w

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This code is a reimplementation of the guided policy search algorithm and LQG-based trajectory optimization, meant to help others understand, reuse, and build upon existing work.

For full documentation, see rll.berkeley.edu/gps.

The code base is a work in progress. See the FAQ for information on planned future additions to the code.