├── AIRL_DRIVE.gif ├── README.md ├── SAIRL_DRIVE.gif ├── algo ├── __pycache__ │ ├── ppo_combo.cpython-36.pyc │ └── safety_critic_Q.cpython-36.pyc ├── ppo_combo.py └── safety_critic_Q.py ├── customized_highway_env ├── __init__.py ├── __pycache__ │ └── __init__.cpython-36.pyc ├── envs │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── highway_env_custom_original.cpython-36.pyc │ │ ├── highway_env_custom_original_CBF.cpython-36.pyc │ │ └── highway_env_forge.cpython-36.pyc │ ├── common │ │ ├── __pycache__ │ │ │ ├── abstract_original.cpython-36.pyc │ │ │ ├── abstract_original_CBF.cpython-36.pyc │ │ │ ├── action_customized.cpython-36.pyc │ │ │ └── observation_customized.cpython-36.pyc │ │ ├── abstract_original.py │ │ ├── abstract_original_CBF.py │ │ ├── action_customized.py │ │ └── observation_customized.py │ ├── highway_env_custom_original.py │ ├── highway_env_custom_original_CBF.py │ └── highway_env_forge.py ├── road │ ├── __pycache__ │ │ └── road_customized.cpython-36.pyc │ └── road_customized.py └── vehicle │ ├── __pycache__ │ ├── behavior_customized.cpython-36.pyc │ └── controller_customized.cpython-36.pyc │ ├── behavior_customized.py │ └── controller_customized.py ├── network_models ├── AIRL_net_discriminator_blend.py ├── AIRL_net_discriminator_blend_CBF.py ├── AIRL_net_discriminator_blend_CBF_total.py ├── __pycache__ │ ├── AIRL_net_discriminator_blend.cpython-36.pyc │ ├── AIRL_net_discriminator_blend_CBF.cpython-36.pyc │ ├── AIRL_net_discriminator_blend_CBF_total.cpython-36.pyc │ ├── policy_net_continuous_discrete.cpython-36.pyc │ └── q_net.cpython-36.pyc ├── policy_net_continuous_discrete.py └── q_net.py ├── others ├── DQN_buffer.py ├── __pycache__ │ ├── DQN_buffer.cpython-36.pyc │ ├── extra_penalty_buffer.cpython-36.pyc │ ├── interact_with_envs.cpython-36.pyc │ ├── sampler_q.cpython-36.pyc │ ├── sampler_v2.cpython-36.pyc │ ├── sampler_v_CBF.cpython-36.pyc │ └── utils.cpython-36.pyc ├── extra_penalty_buffer.py ├── interact_with_envs.py ├── sampler_q.py ├── sampler_v2.py ├── sampler_v_CBF.py └── utils.py ├── rewards_record ├── AIRL_benchmark │ └── model_1 │ │ ├── airl_reward.npy │ │ ├── collision_rate.npy │ │ └── origin_reward.npy ├── CBF_guided_safety_critic │ └── loss.npy ├── SAIRL │ └── model_1 │ │ ├── airl_reward.npy │ │ ├── collision_rate.npy │ │ └── origin_reward.npy └── SAIRL_wo_reg │ └── model_1 │ ├── airl_reward.npy │ ├── collision_rate.npy │ └── origin_reward.npy ├── run_AIRL_combo_highway.py ├── run_SAIRL_highway.py ├── run_safety_critic_Q_training.py ├── sample_CBF.py ├── trained_models ├── AIRL_benchmark │ └── model_1 │ │ ├── 180model.ckpt.data-00000-of-00001 │ │ ├── 180model.ckpt.index │ │ ├── 180model.ckpt.meta │ │ ├── 185model.ckpt.data-00000-of-00001 │ │ ├── 185model.ckpt.index │ │ ├── 185model.ckpt.meta │ │ ├── 190model.ckpt.data-00000-of-00001 │ │ ├── 190model.ckpt.index │ │ ├── 190model.ckpt.meta │ │ ├── 195model.ckpt.data-00000-of-00001 │ │ ├── 195model.ckpt.index │ │ ├── 195model.ckpt.meta │ │ ├── checkpoint │ │ └── setup.npy ├── CBF_guided_safety_critic │ ├── 99750model.ckpt.data-00000-of-00001 │ ├── 99750model.ckpt.index │ ├── 99750model.ckpt.meta │ ├── 99800model.ckpt.data-00000-of-00001 │ ├── 99800model.ckpt.index │ ├── 99800model.ckpt.meta │ ├── 99850model.ckpt.data-00000-of-00001 │ ├── 99850model.ckpt.index │ ├── 99850model.ckpt.meta │ ├── 99900model.ckpt.data-00000-of-00001 │ ├── 99900model.ckpt.index │ ├── 99900model.ckpt.meta │ ├── 99950model.ckpt.data-00000-of-00001 │ ├── 99950model.ckpt.index │ ├── 99950model.ckpt.meta │ ├── Q_para.npy │ ├── checkpoint │ └── setup.npy ├── SAIRL │ └── model_1 │ │ ├── 185model.ckpt.data-00000-of-00001 │ │ ├── 185model.ckpt.index │ │ ├── 185model.ckpt.meta │ │ ├── 190model.ckpt.data-00000-of-00001 │ │ ├── 190model.ckpt.index │ │ ├── 190model.ckpt.meta │ │ ├── 195model.ckpt.data-00000-of-00001 │ │ ├── 195model.ckpt.index │ │ ├── 195model.ckpt.meta │ │ ├── checkpoint │ │ └── setup.npy └── SAIRL_wo_reg │ └── model_1 │ ├── 100model.ckpt.data-00000-of-00001 │ ├── 100model.ckpt.index │ ├── 100model.ckpt.meta │ ├── 105model.ckpt.data-00000-of-00001 │ ├── 105model.ckpt.index │ ├── 105model.ckpt.meta │ ├── 110model.ckpt.data-00000-of-00001 │ ├── 110model.ckpt.index │ ├── 110model.ckpt.meta │ ├── 115model.ckpt.data-00000-of-00001 │ ├── 115model.ckpt.index │ ├── 115model.ckpt.meta │ ├── 120model.ckpt.data-00000-of-00001 │ ├── 120model.ckpt.index │ ├── 120model.ckpt.meta │ ├── 125model.ckpt.data-00000-of-00001 │ ├── 125model.ckpt.index │ ├── 125model.ckpt.meta │ ├── 130model.ckpt.data-00000-of-00001 │ ├── 130model.ckpt.index │ ├── 130model.ckpt.meta │ ├── 135model.ckpt.data-00000-of-00001 │ ├── 135model.ckpt.index │ ├── 135model.ckpt.meta │ ├── 140model.ckpt.data-00000-of-00001 │ ├── 140model.ckpt.index │ ├── 140model.ckpt.meta │ ├── 145model.ckpt.data-00000-of-00001 │ ├── 145model.ckpt.index │ ├── 145model.ckpt.meta │ ├── 150model.ckpt.data-00000-of-00001 │ ├── 150model.ckpt.index │ ├── 150model.ckpt.meta │ ├── 155model.ckpt.data-00000-of-00001 │ ├── 155model.ckpt.index │ ├── 155model.ckpt.meta │ ├── 160model.ckpt.data-00000-of-00001 │ ├── 160model.ckpt.index │ ├── 160model.ckpt.meta │ ├── 165model.ckpt.data-00000-of-00001 │ ├── 165model.ckpt.index │ ├── 165model.ckpt.meta │ ├── 170model.ckpt.data-00000-of-00001 │ ├── 170model.ckpt.index │ ├── 170model.ckpt.meta │ ├── 175model.ckpt.data-00000-of-00001 │ ├── 175model.ckpt.index │ ├── 175model.ckpt.meta │ ├── 180model.ckpt.data-00000-of-00001 │ ├── 180model.ckpt.index │ ├── 180model.ckpt.meta │ ├── 185model.ckpt.data-00000-of-00001 │ ├── 185model.ckpt.index │ ├── 185model.ckpt.meta │ ├── 190model.ckpt.data-00000-of-00001 │ ├── 190model.ckpt.index │ ├── 190model.ckpt.meta │ ├── 195model.ckpt.data-00000-of-00001 │ ├── 195model.ckpt.index │ ├── 195model.ckpt.meta │ ├── 200model.ckpt.data-00000-of-00001 │ ├── 200model.ckpt.index │ ├── 200model.ckpt.meta │ ├── 205model.ckpt.data-00000-of-00001 │ ├── 205model.ckpt.index │ ├── 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