├── .DS_Store ├── .gitattributes ├── README.md ├── compare_plots.py ├── data ├── pendulum_Mar23_ilqr_testcase1.npy ├── pendulum_Mar23_ilqr_testcase2.npy ├── pendulum_Mar23_ilqr_testcase3.npy ├── pendulum_Mar23_ilqr_testcase4.npy ├── pendulum_Mar23_relu_safefilter_testcase1.npy ├── pendulum_Mar23_relu_safefilter_testcase2.npy ├── pendulum_Mar23_relu_safefilter_testcase3.npy ├── pendulum_Mar23_relu_safefilter_testcase4.npy ├── pendulum_Mar23_relu_testcase1.npy ├── pendulum_Mar23_relu_testcase2.npy ├── pendulum_Mar23_relu_testcase3.npy ├── pendulum_Mar23_relu_testcase4.npy ├── pendulum_Mar23_safefilter_testcase1.npy ├── pendulum_Mar23_safefilter_testcase2.npy ├── pendulum_Mar23_safefilter_testcase3.npy ├── pendulum_Mar23_safefilter_testcase4.npy └── pendulum_model_Oct23_1.pth ├── ilqr ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-310.pyc │ ├── __init__.cpython-39.pyc │ ├── dynamics.cpython-310.pyc │ ├── dynamics.cpython-39.pyc │ ├── lqr_step.cpython-310.pyc │ ├── lqr_step.cpython-39.pyc │ ├── mpc.cpython-310.pyc │ ├── mpc.cpython-39.pyc │ ├── pnqp.cpython-310.pyc │ ├── pnqp.cpython-39.pyc │ ├── util.cpython-310.pyc │ └── util.cpython-39.pyc ├── dynamics.py ├── lqr_step.py ├── mpc.py ├── pnqp.py └── util.py ├── main.py ├── psf ├── __init__.py ├── base_policy.py ├── base_system.py ├── linear_model.py ├── nnv.py └── safety_filter.py ├── pympc ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-310.pyc │ └── __init__.cpython-39.pyc ├── control │ ├── __init__.py │ └── controllers.py ├── dynamics │ ├── __init__.py │ ├── discrete_time_systems.py │ ├── discretization_methods.py │ └── utils.py ├── geometry │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── polyhedron.cpython-310.pyc │ │ ├── polyhedron.cpython-39.pyc │ │ ├── utils.cpython-310.pyc │ │ └── utils.cpython-39.pyc │ ├── polyhedron.py │ └── utils.py ├── optimization │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── programs.cpython-310.pyc │ │ └── programs.cpython-39.pyc │ ├── parametric_programs.py │ ├── programs.py │ └── solvers │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── gurobi.cpython-310.pyc │ │ ├── gurobi.cpython-39.pyc │ │ ├── pnnls.cpython-310.pyc │ │ └── pnnls.cpython-39.pyc │ │ ├── drake.py │ │ ├── gurobi.py │ │ └── pnnls.py └── plot.py └── requirements.txt /.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ShaoruChen/NN-System-PSF/HEAD/.DS_Store -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ShaoruChen/NN-System-PSF/HEAD/.gitattributes -------------------------------------------------------------------------------- /README.md: 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