├── NLBAC_SimulatedCarsFollowing_RL_training ├── .idea │ ├── .gitignore │ ├── 0_tras_simulatedcars_following.iml │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ └── modules.xml └── Simulated_Car_Following_RL_training │ ├── .idea │ ├── .gitignore │ ├── Unicycle Example.iml │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ ├── misc.xml │ └── modules.xml │ ├── __pycache__ │ ├── build_env.cpython-36.pyc │ └── user_config.cpython-36.pyc │ ├── build_env.py │ ├── envs │ ├── __pycache__ │ │ ├── pyglet_rendering.cpython-36.pyc │ │ ├── simulated_cars_env.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── pyglet_rendering.py │ ├── simulated_cars_env.py │ └── utils.py │ ├── main.py │ ├── sac_cbf_clf │ ├── __pycache__ │ │ ├── dynamics.cpython-36.pyc │ │ ├── model.cpython-36.pyc │ │ ├── replay_memory.cpython-36.pyc │ │ ├── sac_cbf_clf.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── dynamics.py │ ├── model.py │ ├── replay_memory.py │ ├── sac_cbf_clf.py │ └── utils.py │ ├── user_config.py │ └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── logx.cpython-36.pyc │ ├── mpi_pytorch.cpython-36.pyc │ ├── mpi_tf.cpython-36.pyc │ ├── mpi_tools.cpython-36.pyc │ ├── run_utils.cpython-36.pyc │ └── serialization_utils.cpython-36.pyc │ ├── logx.py │ ├── mpi_pytorch.py │ ├── mpi_tf.py │ ├── mpi_tools.py │ ├── plot.py │ ├── run_entrypoint.py │ ├── run_utils.py │ ├── serialization_utils.py │ └── test_policy.py ├── NLBAC_Unicycle_RL_training ├── .idea │ ├── .gitignore │ ├── NLBAC_Unicycle_RL_training.iml │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── workspace.xml └── Unicycle_RL_training │ ├── .idea │ ├── .gitignore │ ├── Unicycle Example.iml │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ ├── misc.xml │ └── modules.xml │ ├── __pycache__ │ ├── build_env.cpython-36.pyc │ └── user_config.cpython-36.pyc │ ├── build_env.py │ ├── envs │ ├── __pycache__ │ │ ├── pyglet_rendering.cpython-36.pyc │ │ ├── unicycle_env.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── pyglet_rendering.py │ ├── unicycle_env.py │ └── utils.py │ ├── main.py │ ├── sac_cbf_clf │ ├── __pycache__ │ │ ├── dynamics.cpython-36.pyc │ │ ├── model.cpython-36.pyc │ │ ├── replay_memory.cpython-36.pyc │ │ ├── sac_cbf_clf.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── dynamics.py │ ├── model.py │ ├── replay_memory.py │ ├── sac_cbf_clf.py │ └── utils.py │ ├── user_config.py │ └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── logx.cpython-36.pyc │ ├── mpi_pytorch.cpython-36.pyc │ ├── mpi_tf.cpython-36.pyc │ ├── mpi_tools.cpython-36.pyc │ ├── run_utils.cpython-36.pyc │ └── serialization_utils.cpython-36.pyc │ ├── logx.py │ ├── mpi_pytorch.py │ ├── mpi_tf.py │ ├── mpi_tools.py │ ├── plot.py │ ├── run_entrypoint.py │ ├── run_utils.py │ ├── serialization_utils.py │ └── test_policy.py ├── NLBAC_pvtol_RL_training ├── .idea │ ├── .gitignore │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── pvtol.iml └── Pvtol_RL_training │ ├── .idea │ ├── .gitignore │ ├── Unicycle Example.iml │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ ├── misc.xml │ └── modules.xml │ ├── __pycache__ │ ├── build_env.cpython-36.pyc │ └── user_config.cpython-36.pyc │ ├── build_env.py │ ├── envs │ ├── __pycache__ │ │ ├── pvtol_env.cpython-36.pyc │ │ ├── pyglet_rendering.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── pvtol_env.py │ ├── pyglet_rendering.py │ └── utils.py │ ├── main.py │ ├── sac_cbf_clf │ ├── __pycache__ │ │ ├── dynamics.cpython-36.pyc │ │ ├── model.cpython-36.pyc │ │ ├── replay_memory.cpython-36.pyc │ │ ├── sac_cbf_clf.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── dynamics.py │ ├── model.py │ ├── replay_memory.py │ ├── sac_cbf_clf.py │ └── utils.py │ ├── user_config.py │ └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── logx.cpython-36.pyc │ ├── mpi_pytorch.cpython-36.pyc │ ├── mpi_tf.cpython-36.pyc │ ├── mpi_tools.cpython-36.pyc │ ├── run_utils.cpython-36.pyc │ └── serialization_utils.cpython-36.pyc │ ├── logx.py │ ├── mpi_pytorch.py │ ├── mpi_tf.py │ ├── mpi_tools.py │ ├── plot.py │ ├── run_entrypoint.py │ ├── run_utils.py │ ├── serialization_utils.py │ └── test_policy.py ├── README.md ├── neural_barrier_certificate ├── neural_barrier_certificate_NLBAC_Unicycle_RL_training │ └── Unicycle_RL_training │ │ ├── .idea │ │ ├── .gitignore │ │ ├── Unicycle Example.iml │ │ ├── inspectionProfiles │ │ │ ├── Project_Default.xml │ │ │ └── profiles_settings.xml │ │ ├── misc.xml │ │ └── modules.xml │ │ ├── CLF_CBF_Unicycle_20.sh │ │ ├── __pycache__ │ │ ├── build_env.cpython-36.pyc │ │ └── user_config.cpython-36.pyc │ │ ├── build_env.py │ │ ├── envs │ │ ├── __pycache__ │ │ │ ├── pyglet_rendering.cpython-36.pyc │ │ │ ├── unicycle_env.cpython-36.pyc │ │ │ └── utils.cpython-36.pyc │ │ ├── pyglet_rendering.py │ │ ├── unicycle_env.py │ │ └── utils.py │ │ ├── main.py │ │ ├── sac_cbf_clf │ │ ├── __pycache__ │ │ │ ├── dynamics.cpython-36.pyc │ │ │ ├── model.cpython-36.pyc │ │ │ ├── replay_memory.cpython-36.pyc │ │ │ ├── sac_cbf_clf.cpython-36.pyc │ │ │ └── utils.cpython-36.pyc │ │ ├── dynamics.py │ │ ├── model.py │ │ ├── replay_memory.py │ │ ├── sac_cbf_clf.py │ │ └── utils.py │ │ ├── user_config.py │ │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── logx.cpython-36.pyc │ │ ├── mpi_pytorch.cpython-36.pyc │ │ ├── mpi_tf.cpython-36.pyc │ │ ├── mpi_tools.cpython-36.pyc │ │ ├── run_utils.cpython-36.pyc │ │ └── serialization_utils.cpython-36.pyc │ │ ├── logx.py │ │ ├── mpi_pytorch.py │ │ ├── mpi_tf.py │ │ ├── mpi_tools.py │ │ ├── plot.py │ │ ├── run_entrypoint.py │ │ ├── run_utils.py │ │ ├── serialization_utils.py │ │ └── test_policy.py └── neural_barrier_certificate_NLBAC_pvtol_RL_training │ ├── .idea │ ├── .gitignore │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── pvtol.iml │ └── Pvtol_RL_training │ ├── .idea │ ├── .gitignore │ ├── Unicycle Example.iml │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ ├── misc.xml │ └── modules.xml │ ├── 20_Node_Pvtol_20.sh │ ├── __pycache__ │ ├── build_env.cpython-36.pyc │ └── user_config.cpython-36.pyc │ ├── build_env.py │ ├── envs │ ├── __pycache__ │ │ ├── pvtol_env.cpython-36.pyc │ │ ├── pyglet_rendering.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── pvtol_env.py │ ├── pyglet_rendering.py │ └── utils.py │ ├── main.py │ ├── sac_cbf_clf │ ├── __pycache__ │ │ ├── dynamics.cpython-36.pyc │ │ ├── model.cpython-36.pyc │ │ ├── replay_memory.cpython-36.pyc │ │ ├── sac_cbf_clf.cpython-36.pyc │ │ └── utils.cpython-36.pyc │ ├── dynamics.py │ ├── model.py │ ├── replay_memory.py │ ├── sac_cbf_clf.py │ └── utils.py │ ├── user_config.py │ └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── logx.cpython-36.pyc │ ├── mpi_pytorch.cpython-36.pyc │ ├── mpi_tf.cpython-36.pyc │ ├── mpi_tools.cpython-36.pyc │ ├── run_utils.cpython-36.pyc │ └── serialization_utils.cpython-36.pyc │ ├── logx.py │ ├── mpi_pytorch.py │ ├── mpi_tf.py │ ├── mpi_tools.py │ ├── plot.py │ ├── run_entrypoint.py │ ├── run_utils.py │ ├── serialization_utils.py │ └── test_policy.py └── pic ├── 123.txt ├── Comparison_NODE_NN_simulatedcars.png ├── NN(1.1023)_NODE(0.0012)_compare_modify.png ├── compare_0001_0001.png ├── quadrotor.png └── unicycle_env_graph.png /NLBAC_SimulatedCarsFollowing_RL_training/.idea/.gitignore: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /NLBAC_SimulatedCarsFollowing_RL_training/.idea/0_tras_simulatedcars_following.iml: 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