SafeRoboticsLab / ISAACS

Iterative Soft Adversarial Actor-Critic for Safety (ISAACS)

[Webpage] | [arXiv] | [Paper]

Kai-Chieh Hsu¹, Duy Phuong Nguyen¹, Jaime F. Fisac

¹equal contribution in alphabetical order

Princeton University, L4DC'2023

Please raise an issue or reach out at kaichieh or duyn at princenton dot edu if you need help with running the code.

Installation

1. use either conda or mamda

• conda

  git submodule update --init --recursive
  conda create -n isaacs python=3.8
  conda activate isaacs
  conda install cuda -c nvidia/label/cuda-11.8.0
  conda install pytorch pytorch-cuda=11.8 -c pytorch -c nvidia/label/cuda-11.8.0
  conda install -c conda-forge suitesparse jupyter notebook omegaconf numpy tqdm jax casadi gym dill plotly shapely wandb matplotlib
  conda install -c cornell-zhang heterocl  
  pip install -e .

• mamba

  git submodule update --init --recursive
  mamba create -n isaacs python=3.8
  mamba activate isaacs
  mamba install cuda -c nvidia/label/cuda-11.8.0
  mamba install pytorch pytorch-cuda=11.8 -c pytorch -c nvidia/label/cuda-11.8.0
  mamba install -c conda-forge suitesparse jupyter notebook omegaconf numpy tqdm jax casadi gym dill plotly shapely wandb matplotlib
  conda install -c cornell-zhang heterocl
  pip install -e .

2. install pyspline

Usage

• pretrain controller

  python script/pretrain_ctrl.py -cf config/pretrain_ctrl.yaml

• pretrain a disturbance policy to be a best response to the controller from the previous stage. Note that you need to modify the path in the config. The first version uses the same training script as the one in the third stage. Please see the second version for a cleaner implementation.

  python script/train_isaacs_race_car.py -cf config/isaacs_fix_ctrl.yaml  # ver 1
  python script/pretrain_dstb.py -cf config/pretrain_dstb.yaml  # ver 2

• run ISAACS training. Note that you need to modify the path in the config.

  python script/train_isaacs_race_car.py

• test safety filter
  1. get numerical solutions (treated as oracle in the paper) and put it under ckpts/odp/results_lw.pkl (Or, you can modify the path in config/safety_filter.yaml)
  2. run below

  python script/test_safety_filter.py -cf config/safety_filter.yaml

Citation

If you find our paper or code useful, please consider citing us with:

@inproceedings{hsunguyen2023isaacs,
  title = 	  {ISAACS: Iterative Soft Adversarial Actor-Critic for Safety},
  author =    {Kai-Chieh Hsu and Duy P. Nguyen and Jaime F. Fisac},
  booktitle = {Proceedings of the 5th Conference on Learning for Dynamics and Control},
  year =      {2023},
}