予測サンプリング：MuJoCoによるリアルタイム行動生成
Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
MuJoCo物理に基づくリアルタイム予測制御のためのオープンソース対話型アプリとフレームワークMJPCを公開し、iLQG・勾配降下法・予測サンプリングの3つのプランナを実装した。
著者: Taylor Howell, Nimrod Gileadi, Saran Tunyasuvunakool, Kevin Zakka, Tom Erez, Yuval Tassa
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
We introduce MuJoCo MPC (MJPC), an open-source, interactive application and software framework for real-time predictive control, based on MuJoCo physics. MJPC allows the user to easily author and solve complex robotics tasks, and currently supports three shooting-based planners: derivative-based iLQG and Gradient Descent, and a simple derivative-free method we call Predictive Sampling. Predictive Sampling was designed as an elementary baseline, mostly for its pedagogical value, but turned out to be surprisingly competitive with the more established algorithms. This work does not present algorithmic advances, and instead, prioritises performant algorithms, simple code, and accessibility of model-based methods via intuitive and interactive software. MJPC is available at: github.com/deepmind/mujoco_mpc, a video summary can be viewed at: dpmd.ai/mjpc.
