This code accompanies the paper1 and implements the code for estimating the region of attraction for a policy and optimizing the policy subject to stability constraints. For the old numpy-based code to estimate the region of attraction in2 see the lyapunov-learning repository. The code for learning Lyapunov functions from3 can be found in the examples folder.
This library is tested based on both python 2.7 and 3.5, together with the following dependencies, since pip>=19 does not support --process-dependency-links (see below)
pip install pip==18.1
pip install numpy==1.14.5Based on this, you can install the library by cloning the repository and installing it with
pip install . --process-dependency-links
To run the tests with the bash script in scripts/test_code.sh, you need to install additional dependencies with
pip install ".[test]" --process-dependency-links
The --process-dependency-links flag is needed to install gpflow==0.4.0, which is not on pypi. You can skip it if that particular version of the library is already installed.
You can the find example jupyter notebooks and the experiments in the paper in the examples folder.
F. Berkenkamp, M. Turchetta, A. P. Schoellig, A. Krause, Safe Model-based Reinforcement Learning with Stability Guarantees in Proc. of the Conference on Neural Information Processing Systems (NIPS), 2017.↩
F. Berkenkamp, R. Moriconi, A. P. Schoellig, A. Krause, Safe Learning of Regions of Attraction in Uncertain, Nonlinear Systems with Gaussian Processes in Proc. of the Conference on Decision and Control (CDC), 2016.↩
S. M. Richards, F. Berkenkamp, A. Krause, The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems. Conference on Robot Learning (CoRL), 2018.↩