Implementation for First Order Constrained Optimization in Policy Space (FOCOPS).

Link to paper https://arxiv.org/abs/2002.06506

Requirements

python (tested on 3.6.8)
pytorch (tested on 1.3.1)
gym (tested on 0.15.3)
MuJoCo v2.0
mujoco-py (tested on 1.50.1.0)
For the circle experiments, please also install circle environments at https://github.com/ymzhang01/mujoco-circle.

Implementation

Example: Humanoid task in the robots with speed limits experiments (using the default parameters)

python focops_main.py --env-id='Humanoid-v3' --constraint='velocity'