Code for our work on risk-averse trajectory optimization via the sample average approximation approach (T. Lew, R. Bonalli, M. Pavone, "Risk-Averse Trajectory Optimization via Sample Average Approximation", available at https://arxiv.org/abs/2307.03167, 2023).

This code was tested with Python >= 3.6.9.

All dependencies can be installed by running pip install -r requirements.txt