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Overview

CartPole is a personal research project aimed at learning modern RL applicable to robotics. The environment is a variation of the classic control problem, where a pole is attached by a joint to a cart that moves along a single axis. A motor drives the cart, with acceleration serving as the control input. The objective is to swing up the pole and keep it balanced in the unstable upright position.

CartPole

Some of the key technology and design choices behind this project:

  1. [Bazel] Unified build and dependency system.
  2. [MkDocs] Ccomprehensive docs with extensive use of LaTeX.
  3. [Pico2] Simple microcontroller with a C++ SDK.
  4. [JAX] Modern and efficient pure RL control