Closed muchvo closed 5 months ago
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Description
feat(cbf): support crabs as a representative control barrier function based algorithm.
We are delighted to have implemented the CRABS(NeurIPS 2021) algorithm, a representative control barrier function based method, and compared it with the original implementation. During the implementation process, we carefully compared the implementation details to ensure that the gradient flow was completely consistent with the code provided by the authors. Our results achieved similar performance, and we hope this contribution will facilitate easier comparisons with CBF-based methods within the SafeRL community, while also leveraging our tool for enhanced research.
However, we observed that this algorithm requires the use of pretrained model parameters as a starting point for training, and it is currently unclear how these parameters are obtained. This issue was also mentioned in the Paper Decision that decide to accept this paper. Fortunately, the authors provided pretrained model parameters for the
Swing
environment, which allowed us to successfully replicate part of the performance.Here is the performance of the original paper:
Here is the performance from our implementation:
Regarding the remaining environments:
Move
,Upright
, andTilt
, we are actively communicating with the authors. If the community has any solutions to this issue and is willing to support us, please feel free to contact us. Your support is crucial to our progress.Motivation and Context
Why is this change required? What problem does it solve? If it fixes an open issue, please link to the issue here. You can use the syntax
close #15213
if this solves the issue #15213Types of changes
What types of changes does your code introduce? Put an
x
in all the boxes that apply:Checklist
Go over all the following points, and put an
x
in all the boxes that apply. If you are unsure about any of these, don't hesitate to ask. We are here to help!make format
. (required)make lint
. (required)make test
pass. (required)