[HN Gopher] Model Predictive Control in the Browser with WebAsse...
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       Model Predictive Control in the Browser with WebAssembly
        
       Author : thunderbong
       Score  : 81 points
       Date   : 2024-10-30 08:15 UTC (7 days ago)
        
 (HTM) web link (garethx.com)
 (TXT) w3m dump (garethx.com)
        
       | klowrey wrote:
       | 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.
        
       | mjburgess wrote:
       | 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.
        
         | lagrange77 wrote:
         | There is a big overlap between Optimal Control and
         | Reinforcement Learning, in case you didn't know.
         | 
         | Also Steve Brunton does a lot on the interface between control
         | theory and ML on his channel:
         | https://www.youtube.com/channel/UCm5mt-A4w61lknZ9lCsZtBw/pla...
        
         | currymj wrote:
         | there's a lot of work in the broad area. most of it doesn't
         | engage with the classical control theory literature (arguably
         | it should).
         | 
         | some keywords to search for recent hot research would be "world
         | model", "decision transformer", "active inference", "control as
         | inference", "model-based RL".
        
         | szvsw wrote:
         | Another thing to keep in mind is that having AI/ML surrogates
         | which can evaluate expensive functions faster can also be
         | integrated as an information source in model predictive control
         | algorithms.
        
           | lagrange77 wrote:
           | Exactly. ML models such as autoencoders can also be used for
           | reduced order modeling / dimensionality reduction e.g. for
           | MPC of fluid systems.
        
       | tantalor wrote:
       | I love this kind of stuff because it seems like a roughly equal
       | blend of art, science, and engineering.
        
       | gxcode wrote:
       | Author of the post here - happy to answer any questions.
        
         | philzook wrote:
         | Beautiful stuff, great post!
        
           | gxcode wrote:
           | Thank you, really appreciate that.
        
         | beltranaceves wrote:
         | 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
        
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       (page generated 2024-11-06 23:00 UTC)