RL-MPC-tutorial

This repo contains the slides and supporting code for my tutorial on reinforcement learning and MPC at Upper Bound 2024.

To view the slides, go to this page's site.

A paper based on this tutorial is available here.

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Code

Code is contained here. It's a mix of Python and Julia.

To run the Python code in RL_MPC or double_inverted_pendulum, clone this repo, create/activate a virtual environment, cd to the code directory then install from requirements.txt:

pip install -r requirements.txt

To run the Julia code in PID_LQR, clone this repo, navigate to PID_LQR in the Julia REPL then type the commands:

]
activate .
instantiate