add test on push,

update readme

Author: luigiberducci

.github/workflows/tests_on_push.yml

@@ -0,0 +1,29 @@
+name: tests
+
+on:
+  push:
+    branches:
+      - main
+
+jobs:
+  test-python-script:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Check out code
+      uses: actions/checkout@v3
+      with:
+        submodules: 'recursive'
+
+    - name: Set up Python
+      uses: actions/setup-python@v3
+      with:
+        python-version: '3.10'
+        cache: 'pip'
+    - name: Install dependencies
+      run: |
+        pip install --upgrade pip
+        pip install -r requirements.txt
+
+    - name: Run script
+      run: PYTHONPATH=. python -m unittest discover -s ./tests

README.md

@@ -1 +1,45 @@
-# Counter-Example Guided Inductive Synthesis of Control Barrier Functions 
+<h2 align="center">
+FOSCo: FOrmal Synthesis of COntrol Barrier Functions
+</h2>
+
+<p align="center">
+<a href="https://opensource.org/license/bsd-3-clause/"><img alt="License" src="https://img.shields.io/badge/License-BSD_3--Clause-blue.svg"></a>
+<a href="https://python.org"><img alt="Python 3.10" src="https://img.shields.io/badge/python-3.10-blue.svg"></a>
+<a href="https://github.com/luigiberducci/cegis_cbf/actions/workflows/tests-on-push.yml/badge.svg"><img alt="Workflow Status" src="https://github.com/luigiberducci/cegis_cbf/actions/workflows/tests-on-push.yml/badge.svg"></a>
+<a href="https://github.com/psf/black"><img alt="Code style: black" src="https://img.shields.io/badge/code%20style-black-000000.svg"></a>
+</p>
+
+Learner-verifier framework for synthesis of Control Barrier Functions (CBFs) 
+for
+general (nonlinear) control-affine systems.
+
+We use a counterexample-guided inductive synthesis (CEGIS) approach to
+learn a CBF that guarantees forward invariance with respect to a given
+system and unsafe set.
+
+![Example CBF Single-Integrator](docs%2Fsingle_integrator.gif)
+
+## Installation
+The code is written in Python 3.10 and uses [PyTorch](https://pytorch.org/) for
+learning a CBF.
+We recommend using a virtual environment.
+
+To install the required dependencies, run
+```bash
+pip install -r requirements.txt
+```
+
+## Examples
+We provide a simple example for a single-integrator system in 
+[`run_example.py`](run_example.py).
+
+To run the example, run
+```bash
+python run_example.py
+```
+
+## Disclaimer
+This is a research prototype, tailored for CBF and built on top of [FOSSIL](https://github.com/oxford-oxcav/fossil).
+Our implementation aims to refactor the original codebase and keep the minimal functionality required for CBF synthesis.
+
+We invite to refer to the original codebase for synthesis of general Lyapunov certificates.