Webpage • arXiv • Paper ❘ Installation • Getting started • Citation
This is a JAX-based project. To install, install jax first and other prereqs following their instructions.
Next, clone the repository and install the package.
git clone https://github.com/mit-realm/efppo.git
cd efppo
pip install -e .Example:
python python scripts/train_dbint_inner.py --name run1
python scripts/eval_dbint_rootfind.py runs/DbInt_inner/00001-run1/ckpts/00099999/default
Please cite the EFPPO paper.
@inproceedings{so2023solving,
AUTHOR = {Oswin So AND Chuchu Fan},
TITLE = {{Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning}},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2023},
MONTH = {July},
DOI = {10.15607/RSS.2023.XIX.085}
} 
