Development - new features and changes over last months, mainly new TF training script - #66

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marcinpaluch1994 wants to merge 142 commits into

Commits on Apr 1, 2025

Moving files to keep basic interface cleaner
marcinpaluch1994
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9e279c9

Commits on Apr 3, 2025

New cost function. Does not work on simulated cartpole, but works well on physical one.
marcinpaluch1994
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87d1a27
New cost function. Does not work on simulated cartpole, but works well on physical one.
marcinpaluch1994
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bf198c6
Merge remote-tracking branch 'origin/Experiment_3_04_2025' into Experiment_3_04_2025
marcinpaluch1994
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19ccf2f
Getting ready for experiments.
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5b47d27
Getting ready for experiment run. No data collection, just new controller, along old trajectories.
marcinpaluch1994
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f9e0ef4

Commits on Apr 8, 2025

UpsamplingScript
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UpsamplingScript
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200c61d

Commits on Apr 11, 2025

Adding convertion of GRU to C code, not tested yet
marcinpaluch1994
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e95c402

Commits on Apr 13, 2025

Removing files from original location made optional.
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880089d
Production version of script used to upsample CPP MPC data.
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ba5a9fd
More debugging info
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baf1b4a

Commits on Apr 14, 2025

Commits on Apr 15, 2025

Next step with neural network.
marcinpaluch1994
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beef5d8
Next step and second derivatives possibly as network output
marcinpaluch1994
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95e07ea

Commits on Apr 17, 2025

Commits on Apr 23, 2025

Commits on Apr 28, 2025

Commits on Apr 29, 2025

New ODE Module, not yet properly tested.
marcinpaluch1994
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0b73a93
Corrections to enable training of ODE.
marcinpaluch1994
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0e28739
Bug, removing unused line causing circular import
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5d6a847
ODE Module augmented with neural correction close to working but not yet finished.
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cedc087
Better default config
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dc1fba4
Correcting bugs
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d501910
Removing duplicated functions
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4c60c57
Removing duplicated functions
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e012c12
different default for config
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da951af
Merge pull request #64 from SensorsINI/Experiment_3_04_2025
marcinpaluch1994
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f8d2fcc
refs
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c3dccb2
optimizer settings for rpgd better for physical cartpole
marcinpaluch1994
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d30b623

Commits on May 4, 2025

Commits on Jun 3, 2025

Commits on Jun 18, 2025

Commits on Jun 19, 2025

Commits on Jun 20, 2025

Default to adaptive network
marcinpaluch1994
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01c754b

Commits on Jun 23, 2025

Printing additional message to facilitate debugging.
Florian-Bolli
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cd9f0e8

Commits on Jun 24, 2025

Commits on Jun 25, 2025

First Adaptive network in C format added.
marcinpaluch1994
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cd98cb8

Commits on Jul 7, 2025

Separate file evaluate train RL policy
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1ff3a6d
Correction in comments
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f034073
Former RL training script now as minimal training example
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67dd878
Former RL training script now as minimal training and evaluation example
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3995c3a
Making run basic training with SAC
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bf43a29
Options for different cartpole models
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f673fd1
Cartpole_Sensors changed to CartpoleCustomSim
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a31dfb5
Moving files
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f49fafe
New structure of RL environment
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39fb620

Commits on Jul 8, 2025

New structure of RL cartpole!
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4d6aa87
Changing termination condition to terminate if pole falls after stabilizing - seems to speed up training a lot!
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5a96826
Each run gets a dedicated folder
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2639611
Truncation signal with gymnasium wrapper
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1856f35
Counting successful (reaching end of episode) episodes in the last 50 episodes
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fa41ffe
More reasonable experiment length.
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9954582
Changing default
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d9b9993
Small corrections
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36772c0
Renaming variable, to make the script work
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4ed64f6
starting point for swingup now down!
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e113daf
Removing redundant print statement
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169202c
New variables
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78565da
Better definition of swing-up success.
marcinpaluch1994
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b1bd93d

Commits on Jul 9, 2025

Commits on Jul 10, 2025

Removing double reset
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658fab8
and double rendering
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25ed8fe
Debugging timeout
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b1eadd7
Changes of order for clarity.
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45dd4ea

Commits on Jul 11, 2025

Missing field in config controller for remote controller
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535014c
Difflg initial commit
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df848f7

Commits on Jul 12, 2025

Test
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5390132
First version of communicating data from DVS to carpole main program.
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f73cbc9
First version of cartpole_ekf. Not tested yet.
marcinpaluch1994
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ddc38ec

Commits on Jul 14, 2025

EKF newest version
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8610feb
Calculated, quality low
marcinpaluch1994
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0f8ed47
New version of EKF
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4ea6e9d

Commits on Jul 16, 2025

Enabling EKF
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b0cd4a9
EKF now manually tunable
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e61e3d4

Commits on Jul 17, 2025

Settings to be able to connect FPGA controller
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be92b0f
Merge branch 'difflg' into Development
marcinpaluch1994
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a3fff8e
Merge remote-tracking branch 'origin/difflg' into Development
marcinpaluch1994
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08cc110
Uploaded diff logic controller
czihao
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9062ebc
Merge branch 'difflg' of https://github.com/SensorsINI/CartPoleSimulation into difflg
czihao
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24390bb
Merge remote-tracking branch 'origin/difflg' into Development
marcinpaluch1994
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9df8ffe

Commits on Aug 4, 2025

Adding script deriving cartpole equations via lagrange mechanics.
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bb88b38

Commits on Aug 31, 2025

Define names of input and output in predictor specification not in general state utilities.
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25158d5

Commits on Sep 1, 2025

Fixing the texbox from cartpole gui not being read.
marcinpaluch1994
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4b1e4da

Commits on Sep 10, 2025

missing variable
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a26a0f1

Commits on Sep 11, 2025

First version for running C controllers on PC
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d37dde0
Making the Ops name specified in the config
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dde7764
Making the Ops name specified in the config
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773d82e
Refs.
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f31c3ee
Removing redundant parameters.
marcinpaluch1994
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5e8179b
Merge remote-tracking branch 'origin/Development' into Development
marcinpaluch1994
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1836009

Commits on Sep 17, 2025

Renaming
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a4dfe67

Commits on Sep 18, 2025

removing redundant reconfiguration of the controller.
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08e2a31
Saving normalization vector to dedicated folder.
marcinpaluch1994
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ee4c08d
bug in hls4ml
marcinpaluch1994
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5df4476

Commits on Sep 19, 2025

Removing redundant plot
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60dd953

Commits on Nov 18, 2025

Changing default in config
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186019e
Changing one default in training config
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95c12c2

Commits on Jun 16, 2026

rpgd_c implementation
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808854a
Merge remote-tracking branch 'origin/Development' into Development
marcinpaluch1994
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3d96d91
Update Control Toolkit RPGD-C backend
marcinpaluch1994
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effab73

Commits on Jun 17, 2026

Import TensorFlow lazily in globals_and_utils

marcinpaluch1994
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cursoragent
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c9e30b0

Commits on Jun 18, 2026

Add LQR config hot-reloading and retune Q/R

marcinpaluch1994
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cursoragent
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17f178b
Handle infinite controller switch timeouts safely

marcinpaluch1994
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cursoragent
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b448d8f
Working LQR PC&Zynq

marcinpaluch1994
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cursoragent
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6905132

Commits on Jun 19, 2026

Working PID PC&Zynq

marcinpaluch1994
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cursoragent
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814097d
config: select Dense long-pole net for neural-imitator PC control

marcinpaluch1994
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cursoragent
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fe7129f

Commits on Jun 20, 2026

Bump SI_Toolkit: order-based H5 weight-load fallback

marcinpaluch1994
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cursoragent
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027e3a7
Revert cart dynamics to working hand-tuned set for RPGD

marcinpaluch1994
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cursoragent
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Track Dense-7IN-32H1-32H2-1OUT-8 net (working PC neural-imitator)

marcinpaluch1994
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cursoragent
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2a39d9f

Commits on Jun 21, 2026

Select 1OUT-8 net for PC C-evaluation; bump SI_Toolkit

marcinpaluch1994
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cursoragent
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