├── .gitignore ├── LICENSE ├── README.md ├── gcbfplus ├── __init__.py ├── algo │ ├── __init__.py │ ├── base.py │ ├── centralized_cbf.py │ ├── dec_share_cbf.py │ ├── gcbf.py │ ├── gcbf_plus.py │ ├── module │ │ ├── __init__.py │ │ ├── cbf.py │ │ ├── distribution.py │ │ ├── policy.py │ │ └── value.py │ └── utils.py ├── env │ ├── __init__.py │ ├── base.py │ ├── crazyflie.py │ ├── double_integrator.py │ ├── dubins_car.py │ ├── linear_drone.py │ ├── obstacle.py │ ├── plot.py │ ├── single_integrator.py │ └── utils.py ├── nn │ ├── __init__.py │ ├── gnn.py │ ├── mlp.py │ └── utils.py ├── trainer │ ├── __init__.py │ ├── buffer.py │ ├── data.py │ ├── trainer.py │ └── utils.py └── utils │ ├── __init__.py │ ├── graph.py │ ├── typing.py │ └── utils.py ├── media ├── DoubleIntegrator_512_2x.gif ├── Obstacle2D_32.gif ├── Obstacle2D_512_2x.gif └── cbf1.gif ├── pretrained ├── CrazyFlie │ └── gcbf+ │ │ ├── config.yaml │ │ └── models │ │ └── 1000 │ │ ├── actor.pkl │ │ └── cbf.pkl ├── DoubleIntegrator │ └── gcbf+ │ │ ├── config.yaml │ │ └── models │ │ └── 1000 │ │ ├── actor.pkl │ │ └── cbf.pkl ├── DubinsCar │ └── gcbf+ │ │ ├── config.yaml │ │ └── models │ │ └── 1000 │ │ ├── actor.pkl │ │ └── cbf.pkl ├── LinearDrone │ └── gcbf+ │ │ ├── config.yaml │ │ └── models │ │ └── 1000 │ │ ├── actor.pkl │ │ └── cbf.pkl └── SingleIntegrator │ └── gcbf+ │ ├── config.yaml │ └── models │ └── 1000 │ ├── actor.pkl │ └── cbf.pkl ├── requirements.txt ├── settings.yaml ├── setup.py ├── test.py └── train.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/README.md -------------------------------------------------------------------------------- /gcbfplus/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /gcbfplus/algo/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/__init__.py -------------------------------------------------------------------------------- /gcbfplus/algo/base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/base.py -------------------------------------------------------------------------------- /gcbfplus/algo/centralized_cbf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/centralized_cbf.py -------------------------------------------------------------------------------- /gcbfplus/algo/dec_share_cbf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/dec_share_cbf.py -------------------------------------------------------------------------------- /gcbfplus/algo/gcbf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/gcbf.py -------------------------------------------------------------------------------- /gcbfplus/algo/gcbf_plus.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/gcbf_plus.py -------------------------------------------------------------------------------- /gcbfplus/algo/module/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /gcbfplus/algo/module/cbf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/module/cbf.py -------------------------------------------------------------------------------- /gcbfplus/algo/module/distribution.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/module/distribution.py -------------------------------------------------------------------------------- /gcbfplus/algo/module/policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/module/policy.py -------------------------------------------------------------------------------- /gcbfplus/algo/module/value.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/module/value.py -------------------------------------------------------------------------------- /gcbfplus/algo/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/algo/utils.py -------------------------------------------------------------------------------- /gcbfplus/env/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/__init__.py -------------------------------------------------------------------------------- /gcbfplus/env/base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/base.py -------------------------------------------------------------------------------- /gcbfplus/env/crazyflie.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/crazyflie.py -------------------------------------------------------------------------------- /gcbfplus/env/double_integrator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/double_integrator.py -------------------------------------------------------------------------------- /gcbfplus/env/dubins_car.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/dubins_car.py -------------------------------------------------------------------------------- /gcbfplus/env/linear_drone.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/linear_drone.py -------------------------------------------------------------------------------- /gcbfplus/env/obstacle.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/obstacle.py -------------------------------------------------------------------------------- /gcbfplus/env/plot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/plot.py -------------------------------------------------------------------------------- /gcbfplus/env/single_integrator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/single_integrator.py -------------------------------------------------------------------------------- /gcbfplus/env/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/env/utils.py -------------------------------------------------------------------------------- /gcbfplus/nn/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /gcbfplus/nn/gnn.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/nn/gnn.py -------------------------------------------------------------------------------- /gcbfplus/nn/mlp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/nn/mlp.py -------------------------------------------------------------------------------- /gcbfplus/nn/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/nn/utils.py -------------------------------------------------------------------------------- /gcbfplus/trainer/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /gcbfplus/trainer/buffer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/trainer/buffer.py -------------------------------------------------------------------------------- /gcbfplus/trainer/data.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/trainer/data.py -------------------------------------------------------------------------------- /gcbfplus/trainer/trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/trainer/trainer.py -------------------------------------------------------------------------------- /gcbfplus/trainer/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/trainer/utils.py -------------------------------------------------------------------------------- /gcbfplus/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /gcbfplus/utils/graph.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/utils/graph.py -------------------------------------------------------------------------------- /gcbfplus/utils/typing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/utils/typing.py -------------------------------------------------------------------------------- /gcbfplus/utils/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/gcbfplus/utils/utils.py -------------------------------------------------------------------------------- /media/DoubleIntegrator_512_2x.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/media/DoubleIntegrator_512_2x.gif -------------------------------------------------------------------------------- /media/Obstacle2D_32.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/media/Obstacle2D_32.gif -------------------------------------------------------------------------------- /media/Obstacle2D_512_2x.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/media/Obstacle2D_512_2x.gif -------------------------------------------------------------------------------- /media/cbf1.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/media/cbf1.gif -------------------------------------------------------------------------------- /pretrained/CrazyFlie/gcbf+/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/CrazyFlie/gcbf+/config.yaml -------------------------------------------------------------------------------- /pretrained/CrazyFlie/gcbf+/models/1000/actor.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/CrazyFlie/gcbf+/models/1000/actor.pkl -------------------------------------------------------------------------------- /pretrained/CrazyFlie/gcbf+/models/1000/cbf.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/CrazyFlie/gcbf+/models/1000/cbf.pkl -------------------------------------------------------------------------------- /pretrained/DoubleIntegrator/gcbf+/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/DoubleIntegrator/gcbf+/config.yaml -------------------------------------------------------------------------------- /pretrained/DoubleIntegrator/gcbf+/models/1000/actor.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/DoubleIntegrator/gcbf+/models/1000/actor.pkl -------------------------------------------------------------------------------- /pretrained/DoubleIntegrator/gcbf+/models/1000/cbf.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/DoubleIntegrator/gcbf+/models/1000/cbf.pkl -------------------------------------------------------------------------------- /pretrained/DubinsCar/gcbf+/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/DubinsCar/gcbf+/config.yaml -------------------------------------------------------------------------------- /pretrained/DubinsCar/gcbf+/models/1000/actor.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/DubinsCar/gcbf+/models/1000/actor.pkl -------------------------------------------------------------------------------- /pretrained/DubinsCar/gcbf+/models/1000/cbf.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/DubinsCar/gcbf+/models/1000/cbf.pkl -------------------------------------------------------------------------------- /pretrained/LinearDrone/gcbf+/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/LinearDrone/gcbf+/config.yaml -------------------------------------------------------------------------------- /pretrained/LinearDrone/gcbf+/models/1000/actor.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/LinearDrone/gcbf+/models/1000/actor.pkl -------------------------------------------------------------------------------- /pretrained/LinearDrone/gcbf+/models/1000/cbf.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/LinearDrone/gcbf+/models/1000/cbf.pkl -------------------------------------------------------------------------------- /pretrained/SingleIntegrator/gcbf+/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/SingleIntegrator/gcbf+/config.yaml -------------------------------------------------------------------------------- /pretrained/SingleIntegrator/gcbf+/models/1000/actor.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/SingleIntegrator/gcbf+/models/1000/actor.pkl -------------------------------------------------------------------------------- /pretrained/SingleIntegrator/gcbf+/models/1000/cbf.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/pretrained/SingleIntegrator/gcbf+/models/1000/cbf.pkl -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/requirements.txt -------------------------------------------------------------------------------- /settings.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/settings.yaml -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/setup.py -------------------------------------------------------------------------------- /test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/test.py -------------------------------------------------------------------------------- /train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-REALM/gcbfplus/HEAD/train.py --------------------------------------------------------------------------------