This code is based on https://github.com/cbfinn/gps, and modified to be compatible with tensorflow 1.3.0 and MujocoPro131. Please follow http://rll.berkeley.edu/gps/#installation to install necessary dependencies and compile protobuffer.
The MujocoPro131 has already been in src/3rdparty/mjpro. It requires a license, please obtain a key which should be named mjkey.txt and place the key into the mjpro directory.
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This code is a reimplementation of the guided policy search algorithm and LQG-based trajectory optimization, meant to help others understand, reuse, and build upon existing work.
For full documentation, see rll.berkeley.edu/gps.
The code base is a work in progress. See the FAQ for information on planned future additions to the code.
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