Language to Optimization

This section focuses on how to convert an instruction in English to reward and constraints of an optimization-based controller (Model Predictive Control)

ROBOT.MOVE.TABLE.mp4

Setup

git submodule update --init environments/panda-gym
git submodule update --remote environments/panda-gym
cd environments/
pip install -e panda-gym

Env

Create the conda env

conda create --name l2o python=3.9
conda activate l2o

Requirements

Install requirements

pip install -r requirements.txt

OpenAI key

You need to create the file keys/gpt4.key and put your OpenAI key. Make sure to have acces to GPT4.

Run

streamlit run main.py