koopman_policy

An Implementation of Koopman estimation, control and policy learning for paper

Yin, H., Welle, M. C., and Kragic, D. Embedding Koopman Optimal Control in Robot Policy Learning. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Kyoto, Japan.

Dependencies

pytorch (tested on 1.12.1)

numpy

matplotlib

For policy learning and gym environments

pybullet

garage

DEDO

Weights & Biases