Great job! I'm working in a similar blog post and it was fun seeing how you approached it.
I was surprised the wasm implementation is fast enough, I was even considering writing webGpu compute shaders for my solver
I'd be interested, if any one had suggestions, on MPC applied to ML/AI systems -- it seems this is an underserved technique/concern in MLEng, and I'd expect to see more on it.
I hacked it using MPPI and it only works on the cartpole model so as to not have to dwell in Javascript too long; just click the 'MPPI Controller' button and you can perturb the model and see it recover.
Author of the post here - happy to answer any questions.
Great job! I'm working in a similar blog post and it was fun seeing how you approached it. I was surprised the wasm implementation is fast enough, I was even considering writing webGpu compute shaders for my solver
Beautiful stuff, great post!
Thank you, really appreciate that.
I'd be interested, if any one had suggestions, on MPC applied to ML/AI systems -- it seems this is an underserved technique/concern in MLEng, and I'd expect to see more on it.
Here's a (hacky) demo of MPC using MuJoCo in the browser: https://klowrey.github.io/mujoco_wasm/
I hacked it using MPPI and it only works on the cartpole model so as to not have to dwell in Javascript too long; just click the 'MPPI Controller' button and you can perturb the model and see it recover.
I love this kind of stuff because it seems like a roughly equal blend of art, science, and engineering.