utiasDSL / safe-control-gym

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL
https://www.dynsyslab.org/safe-robot-learning/
MIT License
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dev-experiment-class minor updates #122

Closed Federico-PizarroBejarano closed 1 year ago

Federico-PizarroBejarano commented 1 year ago

A collection of minor changes I am using to the base software across my branches. I am not sure we should merge all of these, but I believe we should discuss most of them. Let me know your thoughts.

Federico-PizarroBejarano commented 1 year ago
  1. Fix dev-experiment-class with all minor changes
    • Federico's PR
    • Justin's PR
  2. Branch out of dev-experiment-class (called 'benchmark-paper')
    • Add all paper experiments/code here
  3. Clean up dev-experiment-class to not have benchmark stuff (ie. epoch experiment)
  4. Merge dev-experiment-class
Federico-PizarroBejarano commented 1 year ago

Summary of conversation on February 3rd with @Federico-PizarroBejarano @adamhall @Justin-Yuan

* put back `main.py` and rename it to show it supports RL experiments

* double check that the set and re-set of a seed produces the same experiments

* move epoch stuff to MPC only experiments (alternatively delete all epch stuff and delenda stuff)
  1. I put main.py back with a different name, we can work on the name together.
  2. I checked the reseeding and I am pretty sure it works, although depending on how the experiment is set up it could circumvent the reseeding.
  3. Is the current plan to merge everything into dev-experiment-class, branch out for the benchmark, then cut everything from dev-experiment-class and set it to main?

Also, I fixed the pytest dependency as Amrit said.