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Spectral-Risk-Constrained Policy Optimization (SRCPO)

Requirements

  • Python 3.8 or greater
  • torch==1.12.1
  • gymnasium
  • safety_gymnasium
  • scikit-learn
  • pandas
  • qpsolvers=1.9.0
  • ruamel.yaml

How to train

python main.py --task_cfg_path tasks/{task_name}.yaml --algo_cfg_path algos/{algo_name}/{env_name}.yaml --seed {seed_idx} --gpu_idx {gpu_idx} --wandb

or

bash scripts/train.sh

How to eval

python main.py --task_cfg_path tasks/{task_name}.yaml --algo_cfg_path algos/{algo_name}/{env_name}.yaml --seed {seed_idx} --gpu_idx {gpu_idx} --model_num {model_num} --eval

or

bash scripts/eval.sh

How to test (render)

python main.py --task_cfg_path tasks/{task_name}.yaml --algo_cfg_path algos/{algo_name}/{env_name}.yaml --seed {seed_idx} --gpu_idx {gpu_idx} --model_num {model_num} --test