In this repo, you find the code for training a neural network to approximate an MPC that controls swing up and balancing of a cartpole pendulum system.
We recommend using a virtual enviornment to run this code:
python -m venv venv && source venv/bin/activate
pip install -r requirements.txt
Then, you can run the training with:
python train_hpc.py
And the testing with
python test_hpc.py
Once you get a satisfactory result, you can generate a stand-alone C++ implementation of the neural network:
cd embedded_nn_inference
python code_generation.py
There is a pretrained model provided in the models folder.