├── LICENSE ├── MATLAB ├── ThirdParty │ ├── Robotics Toolbox for MATLAB │ │ └── plot_vehicle.m │ └── helperOC │ │ └── dynSys │ │ └── @DubinsCar4D_HRI │ │ ├── DubinsCar4D_HRI.m │ │ ├── dynamics.m │ │ ├── optCtrl.m │ │ └── optDstb.m ├── car_figures │ ├── car_human.png │ ├── car_robot_b.png │ ├── car_robot_g.png │ ├── car_robot_o.png │ ├── car_robot_r.png │ └── car_robot_y.png ├── data │ ├── HJ_precomp.mat │ ├── QMDP_precomp.mat │ ├── all_controls_cell.mat │ ├── all_headings_cell.mat │ ├── all_states_cell.mat │ ├── human_lane_keeping.mat │ └── waymo_motion_dataset │ │ └── filtered_raw_data │ │ ├── 012_all_controls.npy │ │ ├── 012_all_headings.npy │ │ ├── 012_all_states.npy │ │ ├── 025_all_controls.npy │ │ ├── 025_all_headings.npy │ │ ├── 025_all_states.npy │ │ ├── 027_all_controls.npy │ │ ├── 027_all_headings.npy │ │ ├── 027_all_states.npy │ │ ├── 037_all_controls.npy │ │ ├── 037_all_headings.npy │ │ ├── 037_all_states.npy │ │ ├── 073_all_controls.npy │ │ ├── 073_all_headings.npy │ │ ├── 073_all_states.npy │ │ ├── 125_all_controls.npy │ │ ├── 125_all_headings.npy │ │ ├── 125_all_states.npy │ │ ├── 126_all_controls.npy │ │ ├── 126_all_headings.npy │ │ ├── 126_all_states.npy │ │ ├── 136_all_controls.npy │ │ ├── 136_all_headings.npy │ │ ├── 136_all_states.npy │ │ ├── 153_all_controls.npy │ │ ├── 153_all_headings.npy │ │ ├── 153_all_states.npy │ │ ├── 157_all_controls.npy │ │ ├── 157_all_headings.npy │ │ ├── 157_all_states.npy │ │ ├── 158_all_controls.npy │ │ ├── 158_all_headings.npy │ │ ├── 158_all_states.npy │ │ ├── 162_all_controls.npy │ │ ├── 162_all_headings.npy │ │ ├── 162_all_states.npy │ │ ├── 163_all_controls.npy │ │ ├── 163_all_headings.npy │ │ ├── 163_all_states.npy │ │ ├── 180_all_controls.npy │ │ ├── 180_all_headings.npy │ │ ├── 180_all_states.npy │ │ ├── 187_all_controls.npy │ │ ├── 187_all_headings.npy │ │ ├── 187_all_states.npy │ │ ├── 211_all_controls.npy │ │ ├── 211_all_headings.npy │ │ ├── 211_all_states.npy │ │ ├── 244_all_controls.npy │ │ ├── 244_all_headings.npy │ │ ├── 244_all_states.npy │ │ ├── 249_all_controls.npy │ │ ├── 249_all_headings.npy │ │ ├── 249_all_states.npy │ │ ├── 274_all_controls.npy │ │ ├── 274_all_headings.npy │ │ ├── 274_all_states.npy │ │ ├── 283_all_controls.npy │ │ ├── 283_all_headings.npy │ │ ├── 283_all_states.npy │ │ ├── 316_all_controls.npy │ │ ├── 316_all_headings.npy │ │ ├── 316_all_states.npy │ │ ├── 324_all_controls.npy │ │ ├── 324_all_headings.npy │ │ ├── 324_all_states.npy │ │ ├── 339_all_controls.npy │ │ ├── 339_all_headings.npy │ │ ├── 339_all_states.npy │ │ ├── 395_all_controls.npy │ │ ├── 395_all_headings.npy │ │ ├── 395_all_states.npy │ │ ├── 397_all_controls.npy │ │ ├── 397_all_headings.npy │ │ ├── 397_all_states.npy │ │ ├── 403_all_controls.npy │ │ ├── 403_all_headings.npy │ │ └── 403_all_states.npy ├── main.m ├── precomp │ └── SHARP_precomp.m └── util │ ├── computeBoltzmannFull.m │ ├── computeRationalHumanAction.m │ ├── computeShielding.m │ ├── determineHumanUtility.m │ ├── 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