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Filter plan for particle filter #15

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Filter plan for particle filter #15

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71a4faf
Inference plan importance sampling
VictorBlanchi Apr 10, 2024
bce0a79
Plan with particle filters
VictorBlanchi Apr 11, 2024
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4 changes: 1 addition & 3 deletions examples/gym-cartpole/smart_agent.zls
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Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,7 @@ let proba model obs_gym = action where
rec obs = simple_pendulum (obs_gym, (Right fby action))
and action = controller (obs)
and () = Infer_pf.factor (-10. *. (abs_float (obs.pole_angle)))
and display = draw_obs_back obs

let node smart_main () = () where
rec reset action = Infer_pf.plan 10 10 model obs every true
rec reset action = Infer_pf.plan_pf 30 10 10 model obs every true
and obs, _, stop = cart_pole_gym true (Right fby action)
and display = draw_obs_front obs
4 changes: 1 addition & 3 deletions examples/gym-cartpole/smart_pid_agent.zls
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Expand Up @@ -51,7 +51,6 @@ let proba smart_model (obs_gym) = action where
rec obs = simple_pendulum (obs_gym, (Right fby action))
and action = smart_controller (obs)
and () = Infer_pf.factor (-10. *. (abs_float (obs.pole_angle)))
and display = draw_obs_back obs


(** PID controller for the cart-pole example **)
Expand All @@ -72,11 +71,10 @@ let proba pid_model (obs, ctrl_action) = p, (i, d) where


let node smart_pid_main () = () where
rec reset action_smart = Infer_pf.plan 10 10 smart_model obs_smart
rec reset action_smart = Infer_pf.plan_pf 30 10 10 smart_model obs_smart
every true
and obs_smart, _, _ = cart_pole_gym true (Right fby action_smart)
and pid_dist = Infer_pf.infer 1000 pid_model (obs_smart, action_smart)
and () = draw_obs_front obs_smart
and (p, (i, d)) = Distribution.draw pid_dist
and obs, _, stop = cart_pole_gym true (Right fby action)
and reset action = pid_controller (obs.pole_angle, (p, i, d))
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