├── .circleci └── config.yml ├── .dockerignore ├── .gitignore ├── .travis.yml ├── Dockerfile ├── LICENSE ├── README.rst ├── conftest.py ├── experiments ├── journal_experiment_configs │ ├── __init__.py │ ├── cart_pole_rl_cautious_mpc_nperf=10.py │ ├── cart_pole_rl_cautious_mpc_nperf=12.py │ ├── cart_pole_rl_cautious_mpc_nperf=15.py │ ├── cart_pole_rl_cautious_mpc_nperf=20.py │ ├── cart_pole_rl_cautious_mpc_nperf=5.py │ ├── cart_pole_rl_cautious_mpc_nperf=8.py │ ├── cart_pole_rl_nsafe=1_nperf=0_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=1_nperf=10_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=1_nperf=15_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=2_nperf=0_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=2_nperf=10_r=1_beta_safe=1.py │ ├── cart_pole_rl_nsafe=2_nperf=10_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=2_nperf=10_r=1_beta_safe=3.py │ ├── cart_pole_rl_nsafe=2_nperf=15_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=2_nperf=5_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=3_nperf=0_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=3_nperf=10_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=3_nperf=10_r=1_beta_safe=3.py │ ├── cart_pole_rl_nsafe=3_nperf=15_r=1_beta_safe=1.py │ ├── cart_pole_rl_nsafe=3_nperf=15_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=4_nperf=0_r=1_beta_safe=1.py │ ├── cart_pole_rl_nsafe=4_nperf=0_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=4_nperf=10_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=4_nperf=10_r=1_beta_safe=3.py │ ├── cart_pole_rl_nsafe=4_nperf=15_r=1_beta_safe=1.py │ ├── cart_pole_rl_nsafe=4_nperf=15_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=5_nperf=0_r=1_beta_safe=2.py │ ├── cart_pole_rl_nsafe=5_nperf=10_r=1_beta_safe=2.py │ ├── default_config.py │ ├── defaultconfig_episode.py │ ├── defaultconfig_exploration.py │ ├── dynamic_expl_inv_pend_nsafe=1_nperf=0_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=1_nperf=5_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=2_nperf=0_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=2_nperf=5_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=3_nperf=0_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=3_nperf=5_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=4_nperf=0_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=4_nperf=5_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=5_nperf=0_r=1_beta_safe=2.py │ ├── dynamic_expl_inv_pend_nsafe=5_nperf=5_r=1_beta_safe=2.py │ ├── dynamic_exploration_invertedpendulum.py │ ├── static_expl_inv_pend_nsafe=1_nperf=0_r=1_beta_safe=2.py │ ├── static_expl_inv_pend_nsafe=2_nperf=0_r=1_beta_safe=2.py │ ├── static_expl_inv_pend_nsafe=3_nperf=0_r=1_beta_safe=2.py │ ├── static_expl_inv_pend_nsafe=4_nperf=0_r=1_beta_safe=2.py │ └── static_expl_inv_pend_nsafe=5_nperf=0_r=1_beta_safe=2.py ├── run.py ├── run_experiments.sh └── visualization │ ├── __init__.py │ ├── create_colorbar.py │ ├── create_dynamic_expl_plots.py │ ├── create_exploration_plots_paper.py │ ├── create_rl_plots_journal.py │ ├── create_static_expl_plots.py │ └── utils_visualization.py ├── safe_exploration ├── __init__.py ├── cautious_mpc.py ├── environments.py ├── episode_runner.py ├── exploration_runner.py ├── gp_reachability.py ├── gp_reachability_casadi.py ├── safempc_exploration.py ├── safempc_simple.py ├── sampling_models.py ├── ssm_gpy │ ├── __init__.py │ ├── gaussian_process.py │ ├── gp_models_old.py │ └── gp_models_utils_casadi.py ├── ssm_pytorch │ ├── __init__.py │ ├── gaussian_process.py │ ├── prediction.py │ └── utilities.py ├── state_space_models.py ├── test │ ├── __init__.py │ ├── conftest.py │ ├── data_cartpole.npz │ ├── invpend_data.npz │ ├── test_environments.py │ ├── test_exploration_oracle.py │ ├── test_gaussian_process.py │ ├── test_gp_models.py │ ├── test_gp_models_utils_casadi.py │ ├── test_gp_reachability_casadi.py │ ├── test_prediction.py │ ├── test_safempc.py │ ├── test_state_space_models.py │ ├── test_uncertainty_propagation_casadi.py │ ├── test_utilities.py │ ├── test_utils.py │ ├── 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