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Inverted pendulum with desired theta trained

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judsonupchurch 2025-02-04 03:57:47 +00:00
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commit a6273835b1
44 changed files with 386 additions and 5 deletions
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Random seed for torch and numpy: 2300
Epoch 0/10000 | Loss: 1087012.250000
Model saved as 'controller_with_desired_theta.pth'.
Epoch 25/10000 | Loss: 6898.118652
Model saved as 'controller_with_desired_theta.pth'.
Epoch 50/10000 | Loss: 4412.367676
Model saved as 'controller_with_desired_theta.pth'.
Epoch 75/10000 | Loss: 3298.566406
Model saved as 'controller_with_desired_theta.pth'.
Epoch 100/10000 | Loss: 3002.045166
Model saved as 'controller_with_desired_theta.pth'.
Epoch 125/10000 | Loss: 2829.683350
Model saved as 'controller_with_desired_theta.pth'.
Epoch 150/10000 | Loss: 2759.196289
Model saved as 'controller_with_desired_theta.pth'.
Epoch 175/10000 | Loss: 2696.267090
Model saved as 'controller_with_desired_theta.pth'.
Epoch 200/10000 | Loss: 2641.802246
Model saved as 'controller_with_desired_theta.pth'.
Epoch 225/10000 | Loss: 2627.766113
Model saved as 'controller_with_desired_theta.pth'.
Epoch 250/10000 | Loss: 2616.508789
Model saved as 'controller_with_desired_theta.pth'.
Epoch 275/10000 | Loss: 2606.689697
Model saved as 'controller_with_desired_theta.pth'.
Epoch 300/10000 | Loss: 2598.056641
Model saved as 'controller_with_desired_theta.pth'.
Epoch 325/10000 | Loss: 2590.355225
Model saved as 'controller_with_desired_theta.pth'.
Epoch 350/10000 | Loss: 2583.272217
Model saved as 'controller_with_desired_theta.pth'.
Epoch 375/10000 | Loss: 2576.819092
Model saved as 'controller_with_desired_theta.pth'.
Epoch 400/10000 | Loss: 2570.974365
Model saved as 'controller_with_desired_theta.pth'.
Epoch 425/10000 | Loss: 2565.622070
Model saved as 'controller_with_desired_theta.pth'.
Epoch 450/10000 | Loss: 2560.492676
Model saved as 'controller_with_desired_theta.pth'.
Epoch 475/10000 | Loss: 2555.507080
Model saved as 'controller_with_desired_theta.pth'.
Epoch 500/10000 | Loss: 2550.791992
Model saved as 'controller_with_desired_theta.pth'.
Epoch 525/10000 | Loss: 2546.307373
Model saved as 'controller_with_desired_theta.pth'.
Epoch 550/10000 | Loss: 2542.235352
Model saved as 'controller_with_desired_theta.pth'.
Epoch 575/10000 | Loss: 2538.663086
Model saved as 'controller_with_desired_theta.pth'.
Epoch 600/10000 | Loss: 2535.666260
Model saved as 'controller_with_desired_theta.pth'.
Epoch 625/10000 | Loss: 2533.218262
Model saved as 'controller_with_desired_theta.pth'.
Epoch 650/10000 | Loss: 2531.062744
Model saved as 'controller_with_desired_theta.pth'.
Epoch 675/10000 | Loss: 2529.083252
Model saved as 'controller_with_desired_theta.pth'.
Epoch 700/10000 | Loss: 2527.166504
Model saved as 'controller_with_desired_theta.pth'.
Epoch 725/10000 | Loss: 2525.322754
Model saved as 'controller_with_desired_theta.pth'.
Epoch 750/10000 | Loss: 2523.717285
Model saved as 'controller_with_desired_theta.pth'.
Epoch 775/10000 | Loss: 2522.445312
Model saved as 'controller_with_desired_theta.pth'.
Epoch 800/10000 | Loss: 2521.282715
Model saved as 'controller_with_desired_theta.pth'.
Epoch 825/10000 | Loss: 2520.170166
Model saved as 'controller_with_desired_theta.pth'.
Epoch 850/10000 | Loss: 2519.124756
Model saved as 'controller_with_desired_theta.pth'.
Epoch 875/10000 | Loss: 2518.129395
Model saved as 'controller_with_desired_theta.pth'.
Epoch 900/10000 | Loss: 2517.175781
Model saved as 'controller_with_desired_theta.pth'.
Epoch 925/10000 | Loss: 2516.259277
Model saved as 'controller_with_desired_theta.pth'.
Epoch 950/10000 | Loss: 2515.370117
Model saved as 'controller_with_desired_theta.pth'.
Epoch 975/10000 | Loss: 2514.497314
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1000/10000 | Loss: 2513.662109
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1025/10000 | Loss: 2512.872559
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1050/10000 | Loss: 2512.114258
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1075/10000 | Loss: 2511.387451
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1100/10000 | Loss: 2510.668945
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1125/10000 | Loss: 2509.930176
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1150/10000 | Loss: 2509.170654
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1175/10000 | Loss: 2508.456055
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1200/10000 | Loss: 2507.726318
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1225/10000 | Loss: 2507.019043
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1250/10000 | Loss: 2506.293457
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1275/10000 | Loss: 2505.667725
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1300/10000 | Loss: 2504.782471
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1325/10000 | Loss: 2504.036133
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1350/10000 | Loss: 2503.286377
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1375/10000 | Loss: 2502.594482
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1400/10000 | Loss: 2501.831055
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1425/10000 | Loss: 2501.141846
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1450/10000 | Loss: 2500.542969
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1475/10000 | Loss: 2499.948242
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1500/10000 | Loss: 2499.469482
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1525/10000 | Loss: 2499.087891
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1550/10000 | Loss: 2498.799805
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1575/10000 | Loss: 2498.394531
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1600/10000 | Loss: 2498.098633
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1625/10000 | Loss: 2497.802246
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1650/10000 | Loss: 2497.553467
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1675/10000 | Loss: 2497.372559
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1700/10000 | Loss: 2497.127930
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1725/10000 | Loss: 2496.876465
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1750/10000 | Loss: 2496.729980
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1775/10000 | Loss: 2496.487793
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1800/10000 | Loss: 2496.275635
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1825/10000 | Loss: 2496.156006
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1850/10000 | Loss: 2495.860840
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1875/10000 | Loss: 2495.555664
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1900/10000 | Loss: 2495.285156
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1925/10000 | Loss: 2495.070801
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1950/10000 | Loss: 2494.809326
Model saved as 'controller_with_desired_theta.pth'.
Epoch 1975/10000 | Loss: 2494.603516
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2000/10000 | Loss: 2494.521484
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2025/10000 | Loss: 2494.258789
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2050/10000 | Loss: 2494.076904
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2075/10000 | Loss: 2493.911377
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2100/10000 | Loss: 2493.803467
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2125/10000 | Loss: 2493.607422
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2150/10000 | Loss: 2493.448242
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2175/10000 | Loss: 2493.372559
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2200/10000 | Loss: 2493.167480
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2225/10000 | Loss: 2493.021729
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2250/10000 | Loss: 2492.921631
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2275/10000 | Loss: 2492.787354
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2300/10000 | Loss: 2492.633545
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2325/10000 | Loss: 2492.525146
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2350/10000 | Loss: 2492.379883
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2375/10000 | Loss: 2492.259521
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2400/10000 | Loss: 2492.202637
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2425/10000 | Loss: 2492.150146
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2450/10000 | Loss: 2491.947266
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2475/10000 | Loss: 2491.830322
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2500/10000 | Loss: 2491.792725
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2525/10000 | Loss: 2491.766846
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2550/10000 | Loss: 2491.499023
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2575/10000 | Loss: 2491.353271
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2600/10000 | Loss: 2491.218262
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2625/10000 | Loss: 2491.115967
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2650/10000 | Loss: 2491.019043
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2675/10000 | Loss: 2490.816650
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2700/10000 | Loss: 2490.701416
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2725/10000 | Loss: 2490.608643
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2750/10000 | Loss: 2490.554688
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2775/10000 | Loss: 2490.380615
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2800/10000 | Loss: 2490.269287
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2825/10000 | Loss: 2490.158691
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2850/10000 | Loss: 2490.026367
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2875/10000 | Loss: 2489.925049
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2900/10000 | Loss: 2489.862061
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2925/10000 | Loss: 2489.746582
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2950/10000 | Loss: 2489.623291
Model saved as 'controller_with_desired_theta.pth'.
Epoch 2975/10000 | Loss: 2489.500244
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3000/10000 | Loss: 2489.391357
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3025/10000 | Loss: 2489.324219
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3050/10000 | Loss: 2489.150391
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3075/10000 | Loss: 2489.061279
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3100/10000 | Loss: 2489.039062
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3125/10000 | Loss: 2488.841064
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3150/10000 | Loss: 2488.878906
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3175/10000 | Loss: 2488.596191
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3200/10000 | Loss: 2488.661133
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3225/10000 | Loss: 2488.471924
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3250/10000 | Loss: 2488.281738
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3275/10000 | Loss: 2488.207764
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3300/10000 | Loss: 2488.135254
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3325/10000 | Loss: 2488.150879
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3350/10000 | Loss: 2487.887207
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3375/10000 | Loss: 2487.853271
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3400/10000 | Loss: 2487.732178
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3425/10000 | Loss: 2487.609863
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3450/10000 | Loss: 2487.441406
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3475/10000 | Loss: 2487.407715
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3500/10000 | Loss: 2487.238770
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3525/10000 | Loss: 2487.141113
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3550/10000 | Loss: 2487.045166
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3575/10000 | Loss: 2486.975342
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3600/10000 | Loss: 2486.823486
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3625/10000 | Loss: 2486.737549
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3650/10000 | Loss: 2486.565430
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3675/10000 | Loss: 2486.515625
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3700/10000 | Loss: 2486.400879
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3725/10000 | Loss: 2486.353516
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3750/10000 | Loss: 2486.283203
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3775/10000 | Loss: 2486.348145
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3800/10000 | Loss: 2486.106689
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3825/10000 | Loss: 2485.986816
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3850/10000 | Loss: 2485.947266
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3875/10000 | Loss: 2485.885010
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3900/10000 | Loss: 2485.864746
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3925/10000 | Loss: 2485.722168
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3950/10000 | Loss: 2485.631348
Model saved as 'controller_with_desired_theta.pth'.
Epoch 3975/10000 | Loss: 2485.570801
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4000/10000 | Loss: 2485.480469
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4025/10000 | Loss: 2485.408203
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4050/10000 | Loss: 2485.328857
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4075/10000 | Loss: 2485.380859
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4100/10000 | Loss: 2485.173340
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4125/10000 | Loss: 2485.126953
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4150/10000 | Loss: 2485.287842
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4175/10000 | Loss: 2485.052734
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4200/10000 | Loss: 2485.130127
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4225/10000 | Loss: 2484.903809
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4250/10000 | Loss: 2484.796631
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4275/10000 | Loss: 2484.809570
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4300/10000 | Loss: 2484.670166
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4325/10000 | Loss: 2484.635986
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4350/10000 | Loss: 2484.849365
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4375/10000 | Loss: 2484.489746
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4400/10000 | Loss: 2484.434326
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4425/10000 | Loss: 2484.559326
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4450/10000 | Loss: 2484.332764
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4475/10000 | Loss: 2484.375244
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4500/10000 | Loss: 2484.210693
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4525/10000 | Loss: 2484.157227
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4550/10000 | Loss: 2484.145264
Model saved as 'controller_with_desired_theta.pth'.
Epoch 4575/10000 | Loss: 2484.091309
Model saved as 'controller_with_desired_theta.pth'.

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20
validator.py
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@ -180,7 +180,7 @@ for idx, (theta0, omega0, alpha0, desired_theta) in enumerate(in_sample_cases):
ax2.set_ylabel("Torque [Nm]")
ax2.legend(loc="upper right")
plt.title(f"IC (theta={theta0}, omega={omega0}, alpha={alpha0})")
plt.title(f"IC (theta={theta0:.3f}, omega={omega0:.3f}, alpha={alpha0:.3f})")
plt.tight_layout()
filename = f"{idx+1}_theta0_{theta0:.3f}_omega0_{omega0:.3f}_alpha0_{alpha0:.3f}_desiredtheta_{desired_theta:.3f}_finaltheta_{final_theta:.3f}.png"
@ -191,7 +191,7 @@ for idx, (theta0, omega0, alpha0, desired_theta) in enumerate(in_sample_cases):
# Create a DataFrame for tabular representation
df_losses = pd.DataFrame(in_sample_cases, columns=["theta0", "omega0", "alpha0", "desired_theta"])
df_losses["final_theta"] = final_theta
df_losses["final_theta"] = final_thetas
df_losses["loss"] = losses
# Add run # column
@ -199,6 +199,11 @@ df_losses.insert(0, "Run #", range(1, len(in_sample_cases) + 1))
# Print the table
print(df_losses.to_string(index=False))
print(f"\nAverage Loss for In-Sample Validation: {np.mean(losses):.4f}")
desired_thetas = np.array([case[3] for case in in_sample_cases])
final_thetas = np.array(final_thetas)
print(f"\nAverage abs(Final Theta - Desired Theta) for In-Sample Validation: {np.mean(np.abs(final_thetas - desired_thetas)):.4f}")
# Out-of-sample validation
@ -229,6 +234,8 @@ out_sample_cases = [
]
losses = []
final_thetas = []
for idx, (theta0, omega0, alpha0, desired_theta) in enumerate(out_sample_cases):
state = np.array([theta0, omega0, alpha0])
@ -286,7 +293,7 @@ for idx, (theta0, omega0, alpha0, desired_theta) in enumerate(out_sample_cases):
ax2.set_ylabel("Torque [Nm]")
ax2.legend(loc="upper right")
plt.title(f"IC (theta={theta0}, omega={omega0}, alpha={alpha0})")
plt.title(f"IC (theta={theta0:.3f}, omega={omega0:.3f}, alpha={alpha0:.3f})")
plt.tight_layout()
filename = f"{idx+1}_theta0_{theta0:.3f}_omega0_{omega0:.3f}_alpha0_{alpha0:.3f}_desiredtheta_{desired_theta:.3f}_finaltheta_{final_theta:.3f}.png"
@ -298,7 +305,7 @@ for idx, (theta0, omega0, alpha0, desired_theta) in enumerate(out_sample_cases):
# Create a DataFrame for tabular representation
df_losses = pd.DataFrame(out_sample_cases, columns=["theta0", "omega0", "alpha0", "desired_theta"])
df_losses["final_theta"] = final_theta
df_losses["final_theta"] = final_thetas
df_losses["loss"] = losses
# Add run # column
@ -306,3 +313,8 @@ df_losses.insert(0, "Run #", range(1, len(out_sample_cases) + 1))
# Print the table
print(df_losses.to_string(index=False))
print(f"\nAverage Loss for Out-of-Sample Validation: {np.mean(losses):.4f}")
desired_thetas = np.array([case[3] for case in out_sample_cases])
final_thetas = np.array(final_thetas)
print(f"\nAverage abs(Final Theta - Desired Theta) for Out-of-Sample Validation: {np.mean(np.abs(final_thetas - desired_thetas)):.4f}")