├── Fig ├── problematic_scenario.png ├── pure_pursuit_cost.png ├── pure_pursuit_u.png ├── pure_pursuit_x_y.png ├── pure_pursuit_y_x.png └── verify.png ├── LICENSE ├── MPC ├── __pycache__ │ └── car_env_for_MPC.cpython-36.pyc ├── car_env_for_MPC.py └── ilqr_jax_MPC.py ├── README.md └── SystemID ├── data ├── systemid_data_100ms_0.data ├── systemid_data_100ms_1.data ├── systemid_data_100ms_10.data ├── systemid_data_100ms_11.data ├── systemid_data_100ms_12.data ├── systemid_data_100ms_13.data ├── systemid_data_100ms_14.data ├── systemid_data_100ms_15.data ├── systemid_data_100ms_16.data ├── systemid_data_100ms_17.data ├── systemid_data_100ms_18.data ├── systemid_data_100ms_19.data ├── systemid_data_100ms_2.data ├── systemid_data_100ms_3.data ├── systemid_data_100ms_4.data ├── systemid_data_100ms_5.data ├── systemid_data_100ms_6.data ├── systemid_data_100ms_7.data ├── systemid_data_100ms_8.data ├── systemid_data_100ms_9.data ├── systemid_data_verify_circle.data └── systemid_data_verify_straight.data ├── model ├── net_bicycle_model_100ms_20000_v4.model └── net_bicycle_model_100ms_20000_v4_jax.model ├── model_data_collection_main.py ├── model_data_collection_preparation.py ├── model_to_jax.py ├── param └── lr_mean └── system_id.py /Fig/problematic_scenario.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YukunXia/Carla_iLQR_MPC/HEAD/Fig/problematic_scenario.png -------------------------------------------------------------------------------- /Fig/pure_pursuit_cost.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YukunXia/Carla_iLQR_MPC/HEAD/Fig/pure_pursuit_cost.png -------------------------------------------------------------------------------- /Fig/pure_pursuit_u.png: -------------------------------------------------------------------------------- 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