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LiangZhisama wants to merge 148 commits into

intelligent-control-lab:enlarge

Commits on Feb 28, 2023

customization to train with safetygym
CaesarAndylaw
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2829001
headless video rendering implementation
CaesarAndylaw
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ea36361
commented
CaesarAndylaw
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87c3f93

Commits on Mar 3, 2023

fix the minor implementation bugs with logger, network, cpo, and main training loop
CaesarAndylaw
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d2dba34

Commits on Mar 5, 2023

initial implementation for CPO, and initial experiments
CaesarAndylaw
committed
6995617

Commits on Mar 6, 2023

successfully train the vanilla policy gradient for reward
CaesarAndylaw
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193a2b7

Commits on Mar 7, 2023

switch to an existing pytorch implementation of vanilla policy gradient, the core utility function is copiedfrom spinngup implementation
CaesarAndylaw
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6c8d0cf

Commits on Mar 10, 2023

implementation of ppo, vpg with gpu training loop
CaesarAndylaw
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b7b0053

Commits on Mar 12, 2023

trpo implementation completed
CaesarAndylaw
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173d78a

Commits on Mar 13, 2023

before meerge
CaesarAndylaw
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a66e8f6
add buf for cpo
ruichen-v
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dc99116
Core implementation for CPO, the update function
CaesarAndylaw
committed
5fb42e1
fix extra char
CaesarAndylaw
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0e4e655
Merge remote-tracking branch 'origin/ruic_dev' into trpo_test_reward
CaesarAndylaw
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2a6a4d2
merged cpo buf
CaesarAndylaw
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cc72d87

Commits on Mar 14, 2023

complete version of spinup implementation of constrained policy optimization, trust region policy optimization
CaesarAndylaw
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7052624
remove results
CaesarAndylaw
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3bfbf4c
remove results
CaesarAndylaw
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182fc6e

Commits on Mar 16, 2023

Commits on Mar 17, 2023

cpo and trpo video recorder
CaesarAndylaw
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3b0d613
select maximum epoch for trpo video recorder
CaesarAndylaw
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e2ee555
update vpg training to include arm environment. cancel the limit of the links
CaesarAndylaw
committed
61f9fbb
update config
CaesarAndylaw
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f01a442
add walker ant swimmer model
YIFANSUN98
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66c6f07
add swimmer ant walker
YIFANSUN98
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fe54d27
update the cg computation to make hessian computation much accurate
CaesarAndylaw
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5d1d967
add config of new tasks
YIFANSUN98
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ad6fee6
add config
YIFANSUN98
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37248dd
add config for new tasks
YIFANSUN98
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6b90a41
correct implementation of KL computation, change the name of 6dof
CaesarAndylaw
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c954558
Merge branch 'main' of github.com:intelligent-control-lab/safe_rl_bench into main
CaesarAndylaw
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cb85bd6
implement the correct KL divergence computation for CPO
CaesarAndylaw
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ecbfc26

Commits on Mar 19, 2023

update walker3d xml
YIFANSUN98
committed
1c212dc

Commits on Mar 20, 2023

stable version of CPO and TRPO
CaesarAndylaw
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96ff7ba
addressed the incoming change of humanoid xml
CaesarAndylaw
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70bc827
delete all the original saferl-kit files, they are no longer in use
CaesarAndylaw
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17f3843

Commits on Mar 21, 2023

Adds safety_gym
Vinnie6167
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ca85623
add ant_tiny
YIFANSUN98
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ceacea9
Merge branch 'main' of github.com:intelligent-control-lab/safe_rl_bench into main
YIFANSUN98
committed
9e87739
update cpo and robot configuration
CaesarAndylaw
committed
6d27bd4
update the cpo to enable tuning for cost reduction and make env robust to simulation failure
CaesarAndylaw
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9e4f3ae
add hopper3d
YIFANSUN98
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6e394a2
Merge branch 'main' of github.com:intelligent-control-lab/safe_rl_bench into main
YIFANSUN98
committed
aa620c9

Commits on Mar 22, 2023

create the folder of TRPOLAG, minor update for the safetygym configuration
CaesarAndylaw
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e5f2e71
add 3d hazards for arm3
YIFANSUN98
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f70be42
Merge branch 'tmp' into main
YIFANSUN98
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48414a3
implementation of TRPO-Lagrangian method
CaesarAndylaw
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68febe6
Merge branch 'main' of github.com:intelligent-control-lab/safe_rl_bench into main
CaesarAndylaw
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891ccf8
remove the nested loss cost call
CaesarAndylaw
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56794e7
Merge branch 'trpolag' into main
CaesarAndylaw
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b3dfe6c

Commits on Mar 25, 2023

stable version of the lagrangian implementation
CaesarAndylaw
committed
3b05b5a

Commits on Mar 27, 2023

implementation of the TRPO feasible actor critic
CaesarAndylaw
committed
61dea2a
stable version of trpofac, and new implementation of SCPO
CaesarAndylaw
committed
8d698e3
add ghost tasks
YIFANSUN98
committed
4acdb27
add ghost config
YIFANSUN98
committed
b3a3123
merge to main
YIFANSUN98
committed
dc2e15e
implementation of SCPO progress
CaesarAndylaw
committed
5f13473
update the stable and default configurations of safe RL algorithms
CaesarAndylaw
committed
3ccbe64

Commits on Mar 28, 2023

initial complete implementation of SCPO, and update for the trpofac video
CaesarAndylaw
committed
1e4cd39
modify chase reward
YIFANSUN98
committed
6315b2d
modify config for ghost tasks
YIFANSUN98
committed
9c2ea6d
merge to main
YIFANSUN98
committed
645ead2
update hopper3d
YIFANSUN98
committed
3acf09d
more proper safetygym configuration
CaesarAndylaw
committed
3c5e2e0
adjust hopper3d gear
YIFANSUN98
committed
8872a37
merge to main
YIFANSUN98
committed
28a14e2

Commits on Mar 29, 2023

bug fixed for scpo, minor update for trpo and safetygym config
CaesarAndylaw
committed
57b0d62

Commits on Apr 2, 2023

initial implementation of eaiser learnt value function
CaesarAndylaw
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b89ebac

Commits on Apr 3, 2023

start implementation of the cost sum value learn implementation
CaesarAndylaw
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c9099de
new PCPO branch
Wei-TianHao
committed
a3f1207

Commits on Apr 4, 2023

scpo pnorm implementation and no continue experiments
CaesarAndylaw
committed
4bc1577

Commits on Apr 5, 2023

Commits on Apr 6, 2023

add drone
YIFANSUN98
committed
2704e9b
stable implementation of scpo downsample, which works pretty well
CaesarAndylaw
committed
328d892
merge to main
YIFANSUN98
committed
c9e28d8

Commits on Apr 7, 2023

scpo weight up tune
CaesarAndylaw
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2c2c994
add robot keepout range
YIFANSUN98
committed
a8f755d
Merge branch 'main' into tmp
YIFANSUN98
committed
dc88de6
adjust drone damping
YIFANSUN98
committed
5f34d05

Commits on Apr 10, 2023

Commits on Apr 11, 2023

remove robot keepout range
YIFANSUN98
committed
5485986
preserve the stable verison of the scpo, downsampling and augment
CaesarAndylaw
committed
8743d5c
fix goal_dist bug
YIFANSUN98
committed
4fa636f
Merge branch 'main' into tmp1
YIFANSUN98
committed
f90c249
add walker3d_tiny
YIFANSUN98
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8217431
add swimmer_tiny
YIFANSUN98
committed
fec21b3

Commits on Apr 12, 2023

Commits on Apr 13, 2023

initial implementation of safe layer
CaesarAndylaw
committed
152f45b
working version of safelayer
CaesarAndylaw
committed
6c1001f
more tuning version of safelayer, apply the downsampling trick
CaesarAndylaw
committed
b7e7540
add usl
YIFANSUN98
committed
c7773a9
ipo
ruichen-v
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a5bb87c
Merge branch 'ipo' into main
CaesarAndylaw
committed
b6fbda7

Commits on Apr 17, 2023

stable implementation of usl and safelayer
CaesarAndylaw
committed
d9b1a07

Commits on Apr 18, 2023

Commits on Apr 22, 2023

update engine
YIFANSUN98
committed
cf57b42
update engine
YIFANSUN98
committed
3e67ee7

Commits on Apr 25, 2023

start commit for pdo
waynekyrie
committed
185a247

Commits on Apr 26, 2023

pdo psuedo
waynekyrie
committed
6a6cb5c

Commits on Apr 27, 2023

update
waynekyrie
committed
12ff5c8

Commits on Apr 28, 2023

pdo running
waynekyrie
committed
a423402

Commits on Apr 30, 2023

update
waynekyrie
committed
77591c4

Commits on May 1, 2023

lpg
waynekyrie
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8afb3ee

Commits on May 2, 2023

the final implementation of SCPO NIPS
CaesarAndylaw
committed
29cfc57
stable version of SCPO, little fix of the hopper xml
CaesarAndylaw
committed
8f25f5f
update xml files
YIFANSUN98
committed
452881d
merge to main with new xml
YIFANSUN98
committed
1274e0c
Merge branch 'main' into pdo
waynekyrie
committed
3585f95

Commits on May 3, 2023

pdo
waynekyrie
committed
5f85421
Merge branch 'pdo' of https://github.com/intelligent-control-lab/safe_rl_bench into pdo
waynekyrie
committed
e43ece0
pdo
waynekyrie
committed
a1b86be

Commits on May 11, 2023

stable implementation of lpg and pdo
CaesarAndylaw
committed
8f5d371
.gitignore is now working
CaesarAndylaw
committed
19e8587
.gitignore is now working
CaesarAndylaw
committed
7be79f8
update xmls and configurations for benchmark
YIFANSUN98
committed
c50fefb
merge to main
YIFANSUN98
committed
878fd15

Commits on May 12, 2023

update lpg
waynekyrie
committed
df3240d
update lpg
waynekyrie
committed
f5b59a8

Commits on Jun 12, 2023

before release, code completed
CaesarAndylaw
committed
2af63f5
guard_paper_version
CaesarAndylaw
committed
aeb9701

Commits on Oct 19, 2023

Add APO; Update TRPO
李飞翰
committed
07456c2
Add A2C and PPO
李飞翰
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50249c7
Update: readme
李飞翰
committed
ec69e17
Update: readme
李飞翰
committed
f25c0ae
Add ISSA and fix some bugs
李飞翰
committed
8d114e8
Update: about issa video generation
李飞翰
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b289d32
Add: ISSA
YIFANSUN98
committed
843b012
Update: readme
YIFANSUN98
committed
ea49a14