iLQR-VAE

Installation steps

• install opam : https://opam.ocaml.org/doc/Install.html
• choose opam switch 4.12.0
• install dune (run opam install dune)
• install owl (run opam install owl); you will need to have OpenBLAS installed (see below in case issues with OpenBLAS arise).
• install mpi, accessor, owl_ode, (opam install mpi accessor ppx_accessor owl-ode ppx_deriving_yojson)
• clone https://github.com/hennequin-lab/adam, https://github.com/hennequin-lab/owl_parameters, https://github.com/hennequin-lab/comm, https://github.com/hennequin-lab/cmdargs, https://github.com/tachukao/dilqr, https://github.com/tachukao/owl_bmo and for each of these repos, do dune build @install followed by dune install (after cd-ing into the corresponding directory)

To run examples

• compile the example by running e.g. dune build src/lorenz.exe. If linking issues arise, please get in touch.
• to execute it on multiple cores, run mpirun -n [number of cores] _build/default/src/lorenz.exe -d [results_directory] (where [results_directory] is where you want your results to be saved). Depending on the example file you are trying to execute, there might be additional command line arguments.

OpenBLAS installation

• on certain operating systems linking errors to OpenBLAS can arise when installing owl. One solution to circumvent them is to install OpenBLAS from source (https://github.com/xianyi/OpenBLAS.git), and to then manually include the path to the OpenBLAS installation in LD_LIBRARY_PATH and PKG_CONFIG_PATH.