[project deprecated in 2015]
CLS2 (pronounced: clsquare) provides a standardized framework for testing (not only) Reinforcement Learning controllers on a (growing) number of different plants.
Easy combination of different plants and controllers by definition in a configuration file.
Lean interfaces for plants and controllers for a quick migration to and from CLS2 from and to other software environments.
Optional graphical interface and visualization.
Many demos for easy starting.
Cart Pole (single, double and parallel), underactuated pole
Various static standard controllers (linear, PID…)
Table-based Q Reinforcement Learning
Neural Q and policy controllers
Kernel-based batch controller (Ormoneit and Sen, 2002)
Fitted Q Iteration with Extra Trees (Ernst, Geurts and Wehenkel, 2005)
Get the last version! (2015)
The software is developed and tested under:
Ubuntu Linux 12.04
Mac OSX 10.8
a C++ compiler (build-essential for Ubuntu, xcode for OSX)
CMake 2.6.3 (2.8.2 is required for libgp)
Each module that has special requirements will report them during installation if they are missing.
Get a fresh copy of CLS2
Unpack the source code
tar xzf clsquare.tgz
Compile the program
The most recent manual is included in the source package. For convenience reasons, you can find the manual here, too: CLSquare Manual v4.0
In addition, documentation for the available modules can be generated using Doxygen by typing make doc in the program's build folder.