MPC ML Task List

This is my very tentative list of features to add to MaLPi. Although they are listed in numbered order, only the first one is ‘real’. If/when I finish the first task I’ll re-asses the list, possibly moving things around or dropping some or adding new ones.

1. VAE based DonkeyCar pilot
2. Pre-train VAE on images from all but one track
3. Train separate policies on each track with the VAE as an image embedder
4. Switch to RNN policy
5. Train a single policy on multiple tracks/tasks
6. Add a small DNC as a working memory
7. Add an IMU and learn to detect crashes/bumps
8. Add more tasks
   • Cone/Human/dog/etc detector (bounding box as output)
   • Drive to goal with goal given as an image
   • Sketches as inputs (goals) and/or outputs
   • NLP description of a scene or task trajectory as output
9. Switch to more formal multi-task and/or meta-learning and/or lifelong learning
10. Add some form of Aggregate memory that includes all previous experience

Model Predictive Control is a control method based on planning n-steps into the future to find the best path, as currently determined by the model. Take the first step. Then re-plan, take the new first step. Repeat until done.