Install the Miniconda 3 distribution: https://conda.io/miniconda.html
conda install numpy scipy mkl mkl-rt mkl-service jupyter qt
conda install pygpu libgpuarray -c mila-udem
pip install --upgrade git+https://github.com/Theano/Theano
pip install --upgrade git+https://github.com/Lasagne/Lasagne
pip install gym
pip install mujoco-py
cd <KUSANAGI_ROOT>
pip install -e .
If you use the Miniconda 2 distribution (python 2.7.x), then you need to install gym 0.5.7 pip install gym==0.5.7
python examples/PILCO/cartpole_learn.py -e 8 -n mcpilco_lognormal_dropout -k mc_samples 100 -k max_evals 1000 -k learning_rate 1e-3 -k polyak_averaging None -r True -k clip_gradients 1.0
See http://github.com/juancamilog/robot_learning for an example on how to integrate this library with ROS, and some sample results (from our IROS 2018 submission "Synthesizing Neural Network Controllers with Probabilistic Model based Reinforcement Learning")