├── .gitignore ├── README.md ├── environment.yml ├── environment ├── HA_and_PT │ └── human_avoidance_and_path_tracking_env.py ├── __init__.py ├── human_avoidance │ ├── __init__.py │ ├── human_avoidance_env.py │ ├── subENVs │ │ └── crowd_sim.py │ └── utils │ │ ├── __init__.py │ │ ├── action.py │ │ ├── agent.py │ │ ├── human.py │ │ ├── info.py │ │ ├── recorder.py │ │ ├── robot.py │ │ └── state.py └── path_tracking │ ├── __init__.py │ ├── path_tracking_env.py │ └── utils │ ├── __init__.py │ ├── action_gen.py │ ├── mpc.py │ ├── path_tracking_core.py │ ├── reward_comp.py │ └── unicycle.py ├── pysteam_augmented ├── extra_loss_func.py ├── extra_se3_evaluators.py └── lev_marq_gauss_newton_custom_solver.py └── scripts ├── RL └── sac.py ├── __init__.py ├── compare_training_multirun.py ├── configs ├── __init__.py ├── config_HA.py ├── config_PT.py ├── config_SAC.py ├── config_base.py ├── config_general.py ├── config_master.py └── config_training.py ├── models ├── DRL.py ├── DRMPC.py ├── ResidualDRL.py ├── distributions.py ├── model.py └── utils.py ├── online_continuous_task.py ├── online_episodic_task.py ├── policy ├── orca.py ├── policy.py ├── policy_factory.py └── social_force.py └── utils ├── OOD.py ├── misc.py ├── plotting.py └── storage.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/James-R-Han/DR-MPC/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/James-R-Han/DR-MPC/HEAD/README.md -------------------------------------------------------------------------------- /environment.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/James-R-Han/DR-MPC/HEAD/environment.yml 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