High-dimensional Safe Optimization with Local Optimistic Exploration (HdSafeBO)

This is the code repository of the paper "Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems".

To replicate the experiment, run the following command:

Synthetic Function

python optimization_gpfun.py --algo HdSafeBO --latent_opt 1

Replace "HdSafeBO" with other algorithms and switch "latent_opt" argument between 0 and 1 to optimize on the original/latent space.

python optimization_muscle.py --algo HdSafeBO --latent_opt 1

To replicate the experiment, download data file in the following link and put the folder in ./task/scs

Then run the following command:

python optimization_muscle.py --algo HdSafeBO --latent_opt 1

Name		Name	Last commit message	Last commit date
Latest commit History 2 Commits
ae_model		ae_model
algorithm		algorithm
task		task
.gitignore		.gitignore
README.md		README.md
convert_utils.py		convert_utils.py
leg_init_process.py		leg_init_process.py
optimization_digital.py		optimization_digital.py
optimization_gpfun.py		optimization_gpfun.py
optimization_muscle.py		optimization_muscle.py
optimization_scs.py		optimization_scs.py