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feat(pomdps): POMDPs.jl integration via package extension + pendulum demo #59

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cfb1725
feat(pomdps): integrate with POMDPs.jl via package extension
jamgochiana May 26, 2026
7a71330
feat(pomdps): accept MvNormal in initialize_belief, add pendulum+iLQR…
jamgochiana May 26, 2026
d2f9165
feat(pomdps): GaussianFilterUpdater wrapper + iLQR-policy pendulum demo
jamgochiana May 26, 2026
fa593c9
feat(pendulum): observe ω instead of θ + animation with ±2σ ribbons
jamgochiana May 26, 2026
d42dff7
feat(pendulum): widen initial θ prior so belief is wrong (not just un…
jamgochiana May 26, 2026
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
docs/build
*.ipynb_checkpoints*
*Manifest.toml
examples/outputs/
12 changes: 10 additions & 2 deletions Project.toml
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Expand Up @@ -10,16 +10,24 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"

[weakdeps]
POMDPs = "a93abf59-7444-517b-a68a-c42f96afdd7d"

[extensions]
GaussianFiltersPOMDPsExt = "POMDPs"

[compat]
Distributions = "0.25"
ForwardDiff = "0.10, 1"
POMDPs = "0.9, 1"
StableRNGs = "1"
julia = "1.6"
julia = "1.9"

[extras]
POMDPs = "a93abf59-7444-517b-a68a-c42f96afdd7d"
Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
StableRNGs = "860ef19b-820b-49d6-a774-d7a799459cd3"
StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

[targets]
test = ["Test", "StableRNGs", "StaticArrays"]
test = ["POMDPs", "Test", "StableRNGs", "StaticArrays"]
5 changes: 5 additions & 0 deletions examples/Project.toml
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@@ -1,9 +1,14 @@
[deps]
Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
GaussianFilters = "08d575fb-911d-541e-8431-6cfa767e7851"
LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
POMDPModels = "355abbd5-f08e-5560-ac9e-8b5f2592a0ca"
POMDPTools = "7588e00f-9cae-40de-98dc-e0c70c48cdd7"
POMDPs = "a93abf59-7444-517b-a68a-c42f96afdd7d"
Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

[sources]
GaussianFilters = {path = ".."}
2 changes: 2 additions & 0 deletions examples/README.md
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Expand Up @@ -10,6 +10,8 @@ Self-contained example scripts demonstrating the filters in `GaussianFilters.jl`
| `gmphd_surveillance.jl` | GM-PHD | Multi-target tracking in a surveillance region |
| `gmphd_aircraft_carrier.jl` | GM-PHD | Aircraft carrier scenario with birth/spawn models |
| `gmphd_tests.jl` | GM-PHD | Visualization helpers and pruning/merging demos |
| `pomdps_integration.jl` | KF | Uses a `KalmanFilter` as a `POMDPs.jl` belief updater |
| `pendulum_ekf_ilqr.jl` | EKF | Closed-loop stabilization of an inverted pendulum observed only through its angular velocity (gyroscope-style). The angle is hidden and inferred by the EKF. Defines a `PendulumPOMDP` and an `ILQRPolicy <: POMDPs.Policy`, wraps the EKF with `pomdps_updater`, and runs everything through `POMDPs.simulate`. Writes an animation showing belief uncertainty (±2σ) on both states to `examples/outputs/pendulum_ekf_ilqr.gif` (gitignored). |

## Running

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