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Epigraphic Form Proximal Policy Optimization (EFPPO)

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Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning

Oswin So, Chuchu Fan

Webpage • arXiv • Paper   ❘   Installation • Getting started • Citation

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Installation

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 .

Getting started

Example:

python python scripts/train_dbint_inner.py --name run1
python scripts/eval_dbint_rootfind.py runs/DbInt_inner/00001-run1/ckpts/00099999/default

<div align="center"> <img src="media/dbint_example.jpg" width="50%" /> </div>

Citation

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}  
}