Solving the swing-up and balance task for the Acrobot and Pendubot with SAC

Chi Zhang, Akhil Sathuluri, Markus Zimmermann
12/18/2023
cs.ROcs.AI

No confident code implementation found for this paper.

Abstract

We present a solution of the swing-up and balance task for the pendubot and acrobot for the participation in the AI Olympics competition at IJCAI 2023. Our solution is based on the Soft Actor Crtic (SAC) reinforcement learning (RL) algorithm for training a policy for the swing-up and entering the region of attraction of a linear quadratic regulator(LQR) controller for stabilizing the double pendulum at the top position. Our controller achieves competitive scores in performance and robustness for both, pendubot and acrobot, problem scenarios.

View on arXivView PDF

Code Implementations

No confident code match yet

We couldn't find an author-owned or strongly-evidenced community implementation for this paper. Any repos shown below are weak matches — verify before relying on them.

No code implementations found yet.

Know of an implementation? Let us know in the comments below!

Similar Papers

Average-Reward Maximum Entropy Reinforcement Learning for Underactuated Double Pendulum Tasks

83% match2024

Lyapunov Exponent as Physics-Informed Dense Reward: RL Discovery of Stabilization Beyond the Kapitza Pendulum

79% match2026

Learning global control of underactuated systems with Model-Based Reinforcement Learning

78% match2025

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning

78% match2023

ConcertoRL: An Innovative Time-Interleaved Reinforcement Learning Approach for Enhanced Control in Direct-Drive Tandem-Wing Vehicles

78% match2024

Stackelberg Games for Learning Emergent Behaviors During Competitive Autocurricula

78% match2023

Cite this paper

@article{zhang2023solving,
  title  = {Solving the swing-up and balance task for the Acrobot and Pendubot with SAC},
  author = {Chi Zhang and Akhil Sathuluri and Markus Zimmermann},
  year   = {2023},
  eprint = {2312.11311},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2312.11311v1}
}

Add a badge to your README

Shows whether official code is linked for this paper.

Code of Paper badge
[![Code of Paper](https://codeofpaper.com/badge/2312.11311.svg)](https://codeofpaper.com/paper/2312.11311)

Discussion