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Publish repository: Thu Dec 4 21:09:45 UTC 2025
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‎CONTRIBUTORS.md‎

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# Contributors
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- [Oliver Hausdörfer](www.hausdoerfer.de): Code Lead, Introduction
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- [Martin Schuck](https://github.com/amacati): GP-MPC, PPO
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- [Luca Worbis](https://github.com/cryxil): Model Learning, GP-MPC
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- [Yi Lu](https://github.com/yilutum): LQR/ILQR, MPC
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- [Yufei Hua](https://github.com/yufei4hua): PPO
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‎Dockerfile_student‎

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FROM nvidia/cuda:12.6.3-devel-ubuntu22.04
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# Prevent interactive prompts during package installation
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ENV DEBIAN_FRONTEND=noninteractive
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ARG DEVICE_TYPE=CPU
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# Install system dependencies
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RUN apt-get update && apt-get install -y --no-install-recommends \
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python3.11 \
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python3-pip \
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python3.11-venv \
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python3.11-dev \
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bash-completion \
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build-essential \
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curl \
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cmake \
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git \
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ssh \
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sudo \
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mesa-utils \
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wget \
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htop \
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tmux \
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nano \
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&& rm -rf /var/lib/apt/lists/* && apt-get clean
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# Create symbolic links for python
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RUN ln -sf /usr/bin/python3.11 /usr/bin/python \
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&& ln -sf /usr/bin/python3.11 /usr/bin/python3
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# Create non-root user
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ARG USERNAME=vscode
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
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# Set environment variables for CUDA
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ENV PATH="/usr/local/cuda-12.0/bin:${PATH}"
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ENV LD_LIBRARY_PATH="/usr/local/cuda-12.0/lib64:${LD_LIBRARY_PATH}"
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ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
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ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
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# Create and set proper permissions for workspace directory
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RUN mkdir -p /workspace && \
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chmod -R 755 /workspace && \
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chown -R $USERNAME:$USERNAME /workspace
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# Install Acados
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# Acados Part I:
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# Set the acados version.
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ARG TERA_RENDERER_VERSION=v0.0.34
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# Set the acados installation directory, which must be consistent with the acados_template path set in pyproject.toml.
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ARG ACADOS_INSTALL_DIR=/opt
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# Acados Part II:
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# Install acados dependencies.
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# See: https://docs.acados.org/installation/#id1
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# Clone acados repository and its submodules.
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WORKDIR $ACADOS_INSTALL_DIR
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RUN git config --global http.postBuffer 524288000
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# NOTE: instead of blindly copying from GitHub, we should use a specific release tag. Use one of the following commands:
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# RUN git clone -b v0.4.3 --single-branch --depth=1 https://github.com/acados/acados.git
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# RUN git clone https://github.com/acados/acados.git && cd acados && git fetch --tags && git checkout tags/v0.4.3
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RUN git clone --branch v0.5.0 --depth 1 https://github.com/acados/acados.git $ACADOS_INSTALL_DIR/acados
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WORKDIR $ACADOS_INSTALL_DIR/acados
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RUN git submodule update --recursive --init
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# Change ownership of the acados directory
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RUN chown -R $USERNAME:$USERNAME $ACADOS_INSTALL_DIR/acados
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# Create virtual environment with proper permissions
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ENV VIRTUAL_ENV=/home/vscode/venv
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RUN python -m venv $VIRTUAL_ENV && \
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chown -R $USERNAME:$USERNAME $VIRTUAL_ENV
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ENV PATH="$VIRTUAL_ENV/bin:$PATH"
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# Switch to non-root user
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USER $USERNAME
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# Install development tools
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RUN pip install --no-cache-dir ipykernel termcolor
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# required for crazyflow
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RUN pip install --upgrade pip setuptools wheel
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# Acados Part III:
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# Build and install acados.
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# See: https://docs.acados.org/installation/#cmake-recommended
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# https://github.com/acados/acados/blob/v0.3.6/CMakeLists.txt#L80-L94
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RUN rm -rf build \
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&& mkdir build \
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&& cd build \
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&& cmake -DACADOS_WITH_QPOASES=ON .. \
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&& make install -j4
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# To successfully render C code templates, download the tera_renderer binaries and make them executable.
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# See: https://docs.acados.org/python_interface/index.html#installation
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RUN cd bin \
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&& wget https://github.com/acados/tera_renderer/releases/download/${TERA_RENDERER_VERSION}/t_renderer-${TERA_RENDERER_VERSION}-linux \
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&& mv t_renderer-${TERA_RENDERER_VERSION}-linux t_renderer \
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&& chmod +x t_renderer
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# Acados Part IV:
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# Set acados environment variables.
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# See: https://docs.acados.org/python_interface/index.html#installation
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ENV ACADOS_INSTALL_DIR=$ACADOS_INSTALL_DIR
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ENV LD_LIBRARY_PATH="$ACADOS_INSTALL_DIR/acados/lib"
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ENV ACADOS_SOURCE_DIR="$ACADOS_INSTALL_DIR/acados"
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RUN pip install --no-cache-dir -e ${ACADOS_SOURCE_DIR}/interfaces/acados_template
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# Create a temporary directory for installation with proper permissions and install crazyflow
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WORKDIR /tmp/install
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# Copy pyproject.toml
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COPY --chown=$USERNAME:$USERNAME pyproject.toml .
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# Install dependencies as non-root user
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# Enable cpu-only and gpu versions of torch
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ENV PIP_EXTRA_INDEX_URL="https://download.pytorch.org/whl/cu126 https://download.pytorch.org/whl/cpu"
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# prevent OOM: https://docs.jax.dev/en/latest/gpu_memory_allocation.html#common-causes-of-oom-failures
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ENV XLA_PYTHON_CLIENT_PREALLOCATE=false
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RUN if [ "$DEVICE_TYPE" = "GPU" ]; then \
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pip install --no-cache-dir .[test,gpu,pin]; \
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else \
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pip install --no-cache-dir .[test,cpu,pin]; \
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fi
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# The below PYTHONPATHS are only required for the development repository, and for GitHub CI
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# TODO move to .env file
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ENV PYTHONPATH "${PYTHONPATH}:/workspaces/Advanced-Robot-Learning-and-Decision-Making-Programming-Exercises/src/exercise01"
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ENV PYTHONPATH "${PYTHONPATH}:/workspaces/Advanced-Robot-Learning-and-Decision-Making-Programming-Exercises/src/exercise02"
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ENV PYTHONPATH "${PYTHONPATH}:/workspaces/Advanced-Robot-Learning-and-Decision-Making-Programming-Exercises/src/exercise03"
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ENV PYTHONPATH "${PYTHONPATH}:/workspaces/Advanced-Robot-Learning-and-Decision-Making-Programming-Exercises/src/exercise04"
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ENV PYTHONPATH "${PYTHONPATH}:/workspaces/Advanced-Robot-Learning-and-Decision-Making-Programming-Exercises/src/exercise05"
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ENV PYTHONPATH "${PYTHONPATH}:/workspaces/Advanced-Robot-Learning-and-Decision-Making-Programming-Exercises/src/exercise06"
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# Set final working directory
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WORKDIR /workspace

‎README.md‎

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> ❗ **Students taking the course for Uni must use the code provided directly through course and ARTEMIS!**
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![headshot](headshot.png)
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![example](example_1.gif)
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![example](example_2.gif)
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## 🚀 Introduction
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ToDo

‎headshot.png‎

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