See the project page.
This repository contains the code for the paper "Zero-Shot Transfer of Neural ODEs". All experiments are run using "./run_experiment.sh" script. We expect it to take around 1-2 weeks for all experiments, as there are numerous baselines and numerous seeds, each of which can take a few hours.
The main required packages are torch, numpy, gymnasium[mujoco], and safe-control-gym.
The following are the dependencies for the environment in the experiments, although this repo should not be too sensitive to exact versions:
Package Version
-------------------------- -----------
absl-py 2.1.0
ale-py 0.8.1
AutoROM 0.6.1
AutoROM.accept-rom-license 0.6.1
casadi 3.6.4
certifi 2024.2.2
cffi 1.16.0
cfgv 3.4.0
charset-normalizer 3.3.2
clarabel 0.7.0
click 8.1.7
cloudpickle 3.0.0
colorednoise 2.2.0
contourpy 1.2.0
cvxpy 1.4.2
cycler 0.12.1
Cython 3.0.9
dict-deep 4.1.2
distlib 0.3.8
distro 1.9.0
ecos 2.0.13
etils 1.7.0
exceptiongroup 1.2.0
Farama-Notifications 0.0.4
fasteners 0.19
filelock 3.13.1
fonttools 4.49.0
fsspec 2024.2.0
glfw 2.7.0
gpytorch 1.11
grpcio 1.62.0
gymnasium 0.28.1
identify 2.5.35
idna 3.6
imageio 2.34.0
importlib_resources 6.1.2
iniconfig 2.0.0
jax-jumpy 1.0.0
jaxtyping 0.2.25
Jinja2 3.1.3
joblib 1.3.2
kiwisolver 1.4.5
linear-operator 0.5.2
Markdown 3.5.2
markdown-it-py 3.0.0
MarkupSafe 2.1.5
matplotlib 3.8.3
mdurl 0.1.2
Mosek 10.1.27
mpmath 1.3.0
mujoco 3.1.3
mujoco-py 2.1.2.14
munch 2.5.0
networkx 3.2.1
nodeenv 1.8.0
numpy 1.26.4
nvidia-cublas-cu11 11.10.3.66
nvidia-cublas-cu12 12.1.3.1
nvidia-cuda-cupti-cu12 12.1.105
nvidia-cuda-nvrtc-cu11 11.7.99
nvidia-cuda-nvrtc-cu12 12.1.105
nvidia-cuda-runtime-cu11 11.7.99
nvidia-cuda-runtime-cu12 12.1.105
nvidia-cudnn-cu11 8.5.0.96
nvidia-cudnn-cu12 8.9.2.26
nvidia-cufft-cu12 11.0.2.54
nvidia-curand-cu12 10.3.2.106
nvidia-cusolver-cu12 11.4.5.107
nvidia-cusparse-cu12 12.1.0.106
nvidia-nccl-cu12 2.19.3
nvidia-nvjitlink-cu12 12.4.99
nvidia-nvtx-cu12 12.1.105
opencv-python-headless 4.9.0.80
osqp 0.6.5
packaging 23.2
pandas 2.2.1
pillow 10.2.0
pip 24.0
platformdirs 4.2.0
pluggy 1.4.0
pre-commit 3.6.2
protobuf 4.25.3
psutil 5.9.8
pyaml 23.12.0
pybind11 2.11.1
pybullet 3.2.6
pycddlib 2.1.7
pycparser 2.21
pygame 2.5.2
Pygments 2.17.2
PyOpenGL 3.1.7
pyparsing 3.1.1
PyQt5 5.15.10
PyQt5-Qt5 5.15.2
PyQt5-sip 12.13.0
pytest 7.4.4
python-dateutil 2.9.0
pytope 0.0.4
pytz 2024.1
PyYAML 6.0.1
qdldl 0.1.7.post0
requests 2.31.0
rich 13.7.1
safe-control-gym 2.0.0
scikit-build 0.17.6
scikit-learn 1.4.1.post1
scikit-optimize 0.9.0
scipy 1.11.4
scs 3.2.4.post1
setuptools 69.1.1
Shimmy 1.3.0
six 1.16.0
stable-baselines3 2.2.1
sympy 1.12
tensorboard 2.16.2
tensorboard-data-server 0.7.2
termcolor 1.1.0
threadpoolctl 3.3.0
tomli 2.0.1
torch 2.2.1
tqdm 4.66.2
triton 2.2.0
typeguard 2.13.3
typing_extensions 4.10.0
tzdata 2024.1
urllib3 2.2.1
virtualenv 20.25.1
Werkzeug 3.0.1
wheel 0.42.0
zipp 3.18.1