CLSquare: Closed Loop Simulation System

CLS² (pronounced: clsquare) provides a standardized framework for testing (not only) Reinforcement Learning controllers on a (growing) number of different plants.

Features

Easy combination of different plants and controllers by definition in a configuration file.
Lean interfaces for plants and controllers for a quick migration to and from CLS2 from and to other software environments.
Optional graphical interface and visualization.
Many demos for easy starting.

Plants

Simulations
- Cart Pole (single, double and parallel), underactuated pole
- Maze
- Mountain Car
Hardware Interfaces
- Kinova Jaco
- Robotis Bioloid

Controllers

Various static standard controllers (linear, PID…)
Table-based Q Reinforcement Learning
Neural Q and policy controllers
Gaussian Processes
Kernel-based batch controller (Ormoneit and Sen, 2002)
Fitted Q Iteration with Extra Trees (Ernst, Geurts and Wehenkel, 2005)

Supported Platforms

The software is developed and tested under:

Ubuntu Linux 12.04
Mac OSX 10.8

Basic requirements:

a C++ compiler (build-essential for Ubuntu, xcode for OSX)
CMake 2.6.3 (2.8.2 is required for libgp)

Each module that has special requirements will report them during installation if they are missing.

Installation

Get a fresh copy of CLS2
Unpack the source code
```
      tar xzf clsquare.tgz
```

Compile the program

      mkdir build
      cd build
      cmake ..
      make install

Documentation

The most recent manual is included in the source package. In addition, documentation for the available modules can be generated using Doxygen by typing make doc in the program's build folder.

People

Researchers contributing to this project:

Prof. Dr. Martin Riedmiller
Manuel Blum
Thomas Lampe
Dr. Roland Hafner
Dr. Sascha Lange
Dr. Stephan Timmer

License

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

The views and conclusions contained in the software and documentation are those of the authors and should not be interpreted as representing official policies, either expressed or implied, of the FreeBSD Project.

ahoereth/clsquare