Introduction

This repo contains the code for

• Robustness-Guaranteed Reinforcement Learning under Uncertainties in Dynamics Modeling and State Estimates
  

Special thanks to these open-source contributions, which accelerated our research：

• Lyapunov-stable neural-network control
  Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone and Russ Tedrake
  
• Cleanrl
  Costa Huang
  

Setup

Python requirements

We use python 3 in this project. You could first install the packages in requirements.txt.

Installation

Please run

pip install -e .

to install the package together with the dependencies.

Setup gurobi

Please refer to https://support.gurobi.com/hc/en-us/articles/360044290292-How-do-I-install-Gurobi-for-Python- on setting up Gurobi. Note that by default Gurobi ships with a limited license that has size limits on the optimization problem. Please refer to https://support.gurobi.com/hc/en-us/articles/360051597492 on using your own academic or commential license.

Notes： The code for other cases will be uploaded later, and the instructions will be better organized.