├── .gitignore ├── LICENSE ├── Model ├── ddpg │ ├── image │ │ ├── best_model.zip │ │ ├── evaluations.npz │ │ ├── final_model.zip │ │ ├── old │ │ │ ├── all │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ └── final_model.zip │ │ │ └── best_model.zip │ │ └── slurm-run13.out │ └── ray │ │ ├── best_model.zip │ │ ├── evaluations.npz │ │ └── final_model.zip ├── dqn │ ├── image │ │ ├── best_model.zip │ │ ├── evaluations.npz │ │ └── final_model.zip │ └── ray │ │ ├── best_model.zip │ │ ├── evaluations.npz │ │ └── final_model.zip ├── local_training │ └── variant-0 │ │ ├── best_model.zip │ │ └── evaluations.npz └── td3 │ ├── image │ ├── best_model.zip │ ├── evaluations.npz │ └── final_model.zip │ └── ray │ ├── best_model.zip │ ├── evaluations.npz │ └── final_model.zip ├── README.md ├── config ├── mpc_default.yaml ├── mpc_longiter.yaml └── mpc_test.yaml ├── doc ├── cover.jpg └── iros24_official.pdf ├── environment.yaml ├── requirements.txt ├── src ├── continous_training.py ├── continous_training_cluster.py ├── continous_training_local.py ├── helper_main.py ├── helper_main_continous.py ├── inference_example.py ├── interface_mpc.py ├── main.py ├── main_continous.py ├── main_continous_evaluation.py ├── main_evaluation.py ├── map_visualizer.py ├── mpc_solver │ └── navi_longiter │ │ ├── Cargo.lock │ │ ├── Cargo.toml │ │ ├── build.rs │ │ ├── icasadi_navi_longiter │ │ ├── .gitignore │ │ ├── Cargo.toml │ │ ├── README.md │ │ ├── build.rs │ │ ├── extern │ │ │ ├── README.txt │ │ │ ├── auto_casadi_cost.c │ │ │ ├── auto_casadi_grad.c │ │ │ ├── auto_casadi_mapping_f1.c │ │ │ ├── auto_casadi_mapping_f2.c │ │ │ ├── auto_preconditioning_functions.c │ │ │ ├── casadi_memory.h │ │ │ └── interface.c │ │ └── src │ │ │ ├── PLACEHOLDER │ │ │ └── lib.rs │ │ ├── optimizer.yml │ │ ├── python_bindings_navi_longiter │ │ ├── .cargo │ │ │ └── config │ │ ├── Cargo.lock │ │ ├── Cargo.toml │ │ └── src │ │ │ └── lib.rs │ │ └── src │ │ └── lib.rs ├── mpc_traj_tracker │ ├── __init__.py │ ├── _path.py │ ├── mpc │ │ ├── __init__.py │ │ ├── mpc_generator.py │ │ └── mpc_generator_original.py │ ├── mpc_interface.py │ └── trajectory_generator.py ├── obstacle_simulator │ ├── __init__.py │ ├── _obstacle_scanner.py │ ├── _obstacle_simulator.py │ ├── _test_dynamic_obstacles.py │ ├── crossing_busy_dynamic_obstacles.py │ ├── crosswalk_crash_dynamic_obstacles.py │ ├── crosswalk_follow_dynamic_obstacles.py │ └── crosswalk_ped_dynamic_obstacles.py ├── pkg_ddpg_td3 │ ├── README.md │ ├── __init__.py │ ├── env.yml │ ├── environment │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── components │ │ │ ├── __init__.py │ │ │ ├── acceleration_reward.py │ │ │ ├── angular_acceleration_reward.py │ │ │ ├── angular_jerk_reward.py │ │ │ ├── angular_velocity_observation.py │ │ │ ├── collision_reward.py │ │ │ ├── component.py │ │ │ ├── cross_track_reward.py │ │ │ ├── excessive_speed_reward.py │ │ │ ├── ext_obsv_image.py │ │ │ ├── ext_obsv_ray.py │ │ │ ├── ext_obsv_sector.py │ │ │ ├── ext_obsv_sector_and_ray.py │ │ │ ├── goal_angle_observation.py │ │ │ ├── goal_distance_observation.py │ │ │ ├── goal_distance_reward.py │ │ │ ├── image_observation.py │ │ │ ├── int_obsv_angular_velocity.py │ │ │ ├── int_obsv_goal_angle.py │ │ │ ├── int_obsv_goal_distance.py │ │ │ ├── int_obsv_reference_path_corner.py │ │ │ ├── int_obsv_reference_path_sample.py │ │ │ ├── int_obsv_speed.py │ │ │ ├── jerk_reward.py │ │ │ ├── path_progress_reward.py │ │ │ ├── ray_observation.py │ │ │ ├── reach_goal_reward.py │ │ │ ├── reference_path_corner_observation.py │ │ │ ├── reference_path_sample_observation.py │ │ │ ├── reward_collision.py │ │ │ ├── reward_cross_track.py │ │ │ ├── reward_excessive_speed.py │ │ │ ├── reward_goal_distance.py │ │ │ ├── reward_path_progress.py │ │ │ ├── reward_reach_goal.py │ │ │ ├── reward_speed.py │ │ │ ├── reward_time.py │ │ │ ├── sector_and_ray_observation.py │ │ │ ├── sector_observation.py │ │ │ ├── speed_observation.py │ │ │ ├── speed_reward.py │ │ │ ├── time_reward.py │ │ │ └── utils.py │ │ ├── environment.py │ │ ├── goal.py │ │ ├── obstacle.py │ │ ├── plot.py │ │ └── variants │ │ │ ├── goal.py │ │ │ ├── imgs_reward1.py │ │ │ ├── imgs_reward2.py │ │ │ ├── imgs_reward2_old.py │ │ │ ├── rays_reward1.py │ │ │ └── rays_reward2.py │ ├── inference_model.py │ ├── mypy.ini │ ├── plots.py │ ├── training │ │ ├── README.md │ │ ├── SLURM_jobscript.sh │ │ └── SLURM_jobscript_old.sh │ └── utils │ │ ├── __init__.py │ │ ├── map.py │ │ ├── map_multi_robot.py │ │ ├── map_simple.py │ │ ├── per_ddpg.py │ │ ├── per_td3.py │ │ ├── plotresults.py │ │ └── type_aliases.py ├── pkg_dqn │ ├── README.md │ ├── __init__.py │ ├── env.yml │ ├── environment │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── components │ │ │ ├── __init__.py │ │ │ ├── component.py │ │ │ ├── ext_obsv_image.py │ │ │ ├── ext_obsv_ray.py │ │ │ ├── ext_obsv_sector.py │ │ │ ├── ext_obsv_sector_and_ray.py │ │ │ ├── int_obsv_angular_velocity.py │ │ │ ├── int_obsv_goal_angle.py │ │ │ ├── int_obsv_goal_distance.py │ │ │ ├── int_obsv_reference_path_corner.py │ │ │ ├── int_obsv_reference_path_sample.py │ │ │ ├── int_obsv_speed.py │ │ │ ├── reward_collision.py │ │ │ ├── reward_cross_track.py │ │ │ ├── reward_excessive_speed.py │ │ │ ├── reward_goal_distance.py │ │ │ ├── reward_path_progress.py │ │ │ ├── reward_reach_goal.py │ │ │ ├── reward_speed.py │ │ │ ├── reward_time.py │ │ │ └── utils.py │ │ ├── environment.py │ │ ├── goal.py │ │ ├── obstacle.py │ │ ├── plot.py │ │ └── variants │ │ │ ├── imgs_reward1.py │ │ │ └── rays_reward1.py │ ├── main_rl.py │ ├── mypy.ini │ ├── plots.py │ └── utils │ │ ├── __init__.py │ │ ├── map.py │ │ ├── per_dqn.py │ │ ├── plotresults.py │ │ └── type_aliases.py ├── pkg_map │ ├── __init__.py │ ├── graph_basic.py │ ├── graph_scene.py │ ├── map_geometric.py │ ├── map_occupancy.py │ ├── map_tf.py │ ├── map_tools │ │ ├── __init__.py │ │ └── blob_bounding.py │ └── preset_maps │ │ ├── __init__.py │ │ ├── scene_maps.py │ │ └── test_maps.py ├── pkg_motion_model │ ├── __init__.py │ ├── _state_component.py │ ├── motion_model.py │ └── state.py ├── pkg_obstacle │ ├── __init__.py │ ├── _obstacle.py │ ├── geometry_plain.py │ ├── geometry_shapely.py │ ├── geometry_tools.py │ └── obstacle.py ├── pkg_path_plan │ ├── __init__.py │ ├── _path.py │ ├── global_path_plan.py │ ├── local_path_plan.py │ ├── path_plan_cspace │ │ ├── __init__.py │ │ └── visibility.py │ └── path_plan_graph │ │ ├── __init__.py │ │ └── dijkstra.py ├── scenario_simulator.py ├── test_block_mpc.py ├── test_block_rl.py ├── test_obstacles.py ├── timer.py ├── util │ ├── __init__.py │ ├── basic_object.py │ ├── mapnet.py │ ├── mpc_config.py │ ├── utils_geo.py │ └── utils_sl.py ├── utils │ ├── __init__.py │ ├── map.py │ ├── map_non_convex.py │ ├── per_ddpg.py │ ├── per_dqn.py │ ├── per_td3.py │ ├── plotresults.py │ └── type_aliases.py └── visualizer │ ├── __init__.py │ └── mpc_plot.py └── win-env.yml /.gitignore: -------------------------------------------------------------------------------- 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