├── BarrierNet.py ├── Compare_SI.py ├── NN_SI.py ├── README.md ├── SI_pretrain.py ├── SI_pretrain ├── acceleration_data.npy ├── car_following_estimator.pth ├── disturbance_estimator.pth ├── fc_wo_equi.pth ├── spacing_data.npy └── velocity_data.npy ├── SafeRegion.py ├── __pycache__ ├── BarrierNet.cpython-310.pyc ├── NN_SI.cpython-310.pyc ├── ovm.cpython-310.pyc ├── platoon_env.cpython-310.pyc ├── ppo_agent.cpython-310.pyc ├── utils.cpython-310.pyc └── visualize.cpython-310.pyc ├── assets ├── overview.jpg └── overview.pdf ├── main.py ├── model.py ├── model_parameters ├── FW_FV1_episode_450.pth ├── FW_FV1_episode_500.pth ├── FW_FV2_episode_450.pth ├── FW_FV2_episode_500.pth ├── SIDE_FV1_car_following_estimator.pth ├── SIDE_FV1_car_following_estimator_old.pth ├── SIDE_FV1_disturbance_estimator.pth ├── SIDE_FV1_disturbance_estimator_old.pth ├── SIDE_FV2_car_following_estimator.pth ├── SIDE_FV2_car_following_estimator_old.pth ├── SIDE_FV2_disturbance_estimator.pth ├── SIDE_FV2_disturbance_estimator_old.pth ├── ppo_actor_episode_0.pth ├── ppo_actor_episode_350.pth ├── ppo_actor_episode_350_nn_cbf.pth ├── ppo_actor_episode_350_no_safety.pth ├── ppo_actor_episode_400.pth ├── ppo_actor_episode_400_nn_cbf.pth ├── ppo_actor_episode_400_no_safety.pth ├── ppo_actor_episode_450.pth ├── ppo_actor_episode_450_nn_cbf.pth ├── ppo_actor_episode_450_no_safety.pth ├── ppo_actor_episode_500.pth ├── ppo_actor_episode_500_nn_cbf.pth ├── ppo_actor_episode_500_no_safety.pth ├── ppo_critic_episode_0.pth ├── ppo_critic_episode_350.pth ├── ppo_critic_episode_350_nn_cbf.pth ├── ppo_critic_episode_350_no_safety.pth ├── ppo_critic_episode_400.pth ├── ppo_critic_episode_400_nn_cbf.pth ├── ppo_critic_episode_400_no_safety.pth ├── ppo_critic_episode_450.pth ├── ppo_critic_episode_450_nn_cbf.pth ├── ppo_critic_episode_450_no_safety.pth ├── ppo_critic_episode_500.pth ├── ppo_critic_episode_500_nn_cbf.pth └── ppo_critic_episode_500_no_safety.pth ├── ovm.py ├── platoon_env.py ├── plot_testing_traj.py ├── plot_training_traj.py ├── ppo_agent.py ├── requirements.txt ├── training_traj └── platoon_ppo_safety_layer_True │ ├── events.out.tfevents.1737466604.zhoujy53.6112.0 │ └── events.out.tfevents.1737467065.zhoujy53.46128.0 ├── utils.py └── visualize.py /BarrierNet.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JingyuanZhou/Safe_RL_Mixed_Traffic/HEAD/BarrierNet.py -------------------------------------------------------------------------------- /Compare_SI.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JingyuanZhou/Safe_RL_Mixed_Traffic/HEAD/Compare_SI.py -------------------------------------------------------------------------------- /NN_SI.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JingyuanZhou/Safe_RL_Mixed_Traffic/HEAD/NN_SI.py 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