├── .idea ├── .gitignore ├── carla_and_highwayenv_simulator.iml ├── inspectionProfiles │ ├── Project_Default.xml │ └── profiles_settings.xml ├── misc.xml ├── modules.xml └── vcs.xml ├── README.md ├── algo ├── __pycache__ │ └── ppo_combo.cpython-36.pyc └── ppo_combo.py ├── carla_simulator.gif ├── customized_highway_env ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ └── __init__.cpython-37.pyc ├── envs │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── highway_env_manual_driving_continuous.cpython-36.pyc │ │ ├── highway_env_manual_driving_continuous.cpython-37.pyc │ │ ├── highway_env_manual_driving_continuous_carla.cpython-36.pyc │ │ ├── highway_env_manual_driving_continuous_carla.cpython-37.pyc │ │ ├── highway_env_manual_driving_continuous_tp.cpython-36.pyc │ │ ├── highway_env_manual_driving_continuous_tp.cpython-37.pyc │ │ ├── highway_env_manual_driving_continuous_tp_carla.cpython-36.pyc │ │ ├── highway_env_manual_driving_continuous_tp_carla.cpython-37.pyc │ │ ├── highway_env_manual_driving_vertical.cpython-36.pyc │ │ ├── highway_env_manual_driving_vertical.cpython-37.pyc │ │ ├── highway_env_manual_driving_vertical_carla.cpython-36.pyc │ │ ├── highway_env_manual_driving_vertical_carla.cpython-37.pyc │ │ ├── highway_env_manual_driving_vertical_tp.cpython-36.pyc │ │ ├── highway_env_manual_driving_vertical_tp.cpython-37.pyc │ │ ├── highway_env_manual_driving_vertical_tp_carla.cpython-36.pyc │ │ └── highway_env_manual_driving_vertical_tp_carla.cpython-37.pyc │ ├── common │ │ ├── __pycache__ │ │ │ ├── abstract_original.cpython-36.pyc │ │ │ ├── abstract_original.cpython-37.pyc │ │ │ ├── abstract_original_CBF.cpython-36.pyc │ │ │ ├── abstract_original_CBF.cpython-37.pyc │ │ │ ├── action_customized.cpython-36.pyc │ │ │ ├── action_customized.cpython-37.pyc │ │ │ ├── carla_utils.cpython-36.pyc │ │ │ ├── carla_utils.cpython-37.pyc │ │ │ ├── graphics.cpython-36.pyc │ │ │ ├── graphics.cpython-37.pyc │ │ │ ├── observation_customized.cpython-36.pyc │ │ │ └── observation_customized.cpython-37.pyc │ │ ├── abstract_original.py │ │ ├── abstract_original_CBF.py │ │ ├── action_customized.py │ │ ├── carla_utils.py │ │ ├── graphics.py │ │ └── observation_customized.py │ ├── highway_env_manual_driving_continuous.py │ ├── highway_env_manual_driving_continuous_carla.py │ ├── highway_env_manual_driving_continuous_tp.py │ ├── highway_env_manual_driving_continuous_tp_carla.py │ ├── highway_env_manual_driving_vertical.py │ ├── highway_env_manual_driving_vertical_carla.py │ ├── highway_env_manual_driving_vertical_tp.py │ └── highway_env_manual_driving_vertical_tp_carla.py ├── road │ ├── __pycache__ │ │ ├── graphics_customized.cpython-36.pyc │ │ ├── graphics_customized.cpython-37.pyc │ │ ├── road_customized.cpython-36.pyc │ │ └── road_customized.cpython-37.pyc │ ├── graphics_customized.py │ └── road_customized.py └── vehicle │ ├── __pycache__ │ ├── behavior_customized.cpython-36.pyc │ ├── behavior_customized.cpython-37.pyc │ ├── controller_customized.cpython-36.pyc │ ├── controller_customized.cpython-37.pyc │ ├── graphics_customized.cpython-36.pyc │ ├── graphics_customized.cpython-37.pyc │ ├── kinematics_customized.cpython-36.pyc │ └── kinematics_customized.cpython-37.pyc │ ├── behavior_customized.py │ ├── controller_customized.py │ ├── graphics_customized.py │ └── kinematics_customized.py ├── human_drive.gif ├── legacy_trained_models └── SAIRL │ └── model_2 │ ├── 115model.ckpt.data-00000-of-00001 │ ├── 115model.ckpt.index │ └── 115model.ckpt.meta ├── map_roadrunner.png ├── network_models ├── __pycache__ │ ├── policy_net_continuous_discrete.cpython-36.pyc │ └── policy_net_continuous_discrete.cpython-37.pyc └── policy_net_continuous_discrete.py ├── others ├── __pycache__ │ ├── utils.cpython-36.pyc │ └── utils.cpython-37.pyc └── utils.py ├── run_simulator_keyboard.py ├── run_simulator_keyboard_tp.py ├── run_simulator_pedal_wheel.py 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