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README.md

README.md

Model Predictive Shielding

Contains the code for the model predictive shielding algorithm proposed in https://arxiv.org/abs/1905.10691.

  • Works with Python 3.6. Python dependencies are numpy, pytorch, gym, and sklearn.

  • The online shielding code is in the python folder. The main routines are cartpole_test.py, cartpole_test_bl.py, bicycle_test.py, and bicycle_test_bl.py. For example, to run the cart-pole code, run

    $ cd python
    $ python -m spire.main.cartpole_test
    $ cd baseline/python
    $ python main.py
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