Predictive State Controlled Models
This is the MATLAB code for implementing predictive state controlled models with random Fourier features (RFF-PSR). For more details see
A. Hefny, C. Downey and G. Gordon, "An Efficient, Expressive and Local Minima-free Method for Learning Controlled Dynamical Systems", AAAI 2018.
Running the code
In the code folder run:
exp_synth runs RFF-PSR as well as a number of baselines on a synthetic dataset. Gram matrix version of HSE-PSR is disabled by default as it takes a long time for training and evaluation. To run Gram matrix HSE-PSR, set the variable
evaluate_hsepsr in the script to 1.
train_rffpsr trains RFF-PSR given observation and action trajectories.