├── .gitignore ├── .idea ├── .gitignore ├── cpg.iml ├── inspectionProfiles │ └── profiles_settings.xml ├── misc.xml ├── modules.xml └── vcs.xml ├── LICENSE ├── LQ_game ├── copg_lq_game.py ├── data │ ├── CoPG_lr0_0001.mat │ ├── CoPG_lr0_001.mat │ ├── CoPG_lr0_005.mat │ ├── CoPG_lr0_01.mat │ ├── CoPG_lr0_1.mat │ ├── GDA_lr0_0001.mat │ ├── GDA_lr0_001.mat │ ├── GDA_lr0_005.mat │ └── GDA_lr0_01.mat ├── gda_lq_game.py ├── lq_game.py └── network.py ├── README.md ├── bilineargame ├── bilinear_game.py ├── copg_bilinear.py ├── gda_bilinear.py └── network.py ├── car_racing ├── .idea │ ├── ORCA_training.iml │ ├── inspectionProfiles │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── workspace.xml ├── config.json ├── copg_orca.py ├── gda_orca.py ├── gifs │ ├── CarRacingCoPGvsCoPG.gif │ └── CarRacingGDAvsGDA.gif ├── network.py ├── orca_env_function.py ├── pretrained_models │ ├── CoPG.pth │ ├── GDA.pth │ ├── TRCoPO.pth │ └── TRGDA.pth └── results.py ├── car_racing_simulator ├── ORCA │ ├── kappa │ ├── phi_t │ ├── skappa │ ├── xb1 │ ├── xb2 │ └── xt ├── ORCA_OPT │ ├── con_angle_inner.txt │ ├── con_angle_outer.txt │ ├── con_inner.txt │ ├── con_outer.txt │ ├── kappa_center.txt │ ├── phi_center.txt │ ├── s_center.txt │ ├── x_center.txt │ ├── x_i.txt │ └── x_o.txt ├── Track.py ├── VehicleModel.py ├── config.json ├── cpg_main.py ├── main.py └── pure_pursuit.py ├── copg_optim ├── __init__.py ├── copg.py ├── critic_functions.py └── utils.py ├── markov_soccer ├── Competition_p1_p2.py ├── copg_soccer.py ├── data │ ├── p2_soccer_CoPG_P1vsCoPG_P2.mat │ ├── p2_soccer_CoPG_P1vsGDA_P2.mat │ ├── p2_soccer_CoPG_P1vsLOLA_P2.mat │ ├── p2_soccer_CoPG_P1vsMADDPG_P2.mat │ ├── p2_soccer_CoPG_P1vsTRCoPO_P2.mat │ ├── p2_soccer_CoPG_P1vsTRGDA_P2.mat │ ├── p2_soccer_GDA_P1vsCoPG_P2.mat │ ├── p2_soccer_GDA_P1vsGDA_P2.mat │ ├── p2_soccer_GDA_P1vsLOLA_P2.mat │ ├── p2_soccer_GDA_P1vsMADDPG_P2.mat │ ├── p2_soccer_GDA_P1vsTRCoPO_P2.mat │ ├── p2_soccer_GDA_P1vsTRGDA_P2.mat │ ├── p2_soccer_LOLA_P1vsCoPG_P2.mat │ ├── p2_soccer_LOLA_P1vsGDA_P2.mat │ ├── p2_soccer_LOLA_P1vsLOLA_P2.mat │ ├── p2_soccer_MADDPG_P1vsCoPG_P2.mat │ ├── p2_soccer_MADDPG_P1vsGDA_P2.mat │ ├── p2_soccer_MADDPG_P1vsMADDPG_P2.mat │ ├── p2_soccer_TRCoPO_P1vsCoPG_P2.mat │ ├── p2_soccer_TRCoPO_P1vsGDA_P2.mat │ ├── p2_soccer_TRCoPO_P1vsTRCoPO_P2.mat │ ├── p2_soccer_TRCoPO_P1vsTRGDA_P2.mat │ ├── p2_soccer_TRGDA_P1vsCoPG_P2.mat │ ├── p2_soccer_TRGDA_P1vsGDA_P2.mat │ ├── p2_soccer_TRGDA_P1vsTRCoPO_P2.mat │ └── p2_soccer_TRGDA_P1vsTRGDA_P2.mat ├── gda_soccer.py ├── gifs │ ├── Soccer CoPG vs CoPG.gif │ └── Soccer GDA vs GDA.gif ├── networks.py ├── pretrained_models │ ├── CoPG_P1.pth │ ├── CoPG_P2.pth │ ├── GDA_P1.pth │ ├── GDA_P2.pth │ ├── LOLA_P1.pth │ ├── LOLA_P2.pth │ ├── MADDPG_P1.pth │ ├── MADDPG_P2.pth │ ├── TRCoPO_P1.pth │ ├── TRCoPO_P2.pth │ ├── TRGDA_P1.pth │ └── TRGDA_P2.pth └── soccer_state.py ├── matchingpennies ├── copg_matchingpennies.py ├── gda_matchingpennies.py ├── gifs │ ├── MP CoPG vs CoPG.gif │ ├── MP GDA vs GDA.gif │ ├── MP cropped counter.gif │ └── MP cropped2 counter.gif ├── matching_pennies.py └── network.py ├── notebooks ├── 1_BilinearGame.ipynb ├── 2_RockPaperScissors.ipynb ├── 3_MatchingPennies.ipynb ├── 4_MarkovSoccer.ipynb ├── 5_MarkovSoccer_without_openspiel_lib.ipynb ├── 6_CarRacing.ipynb └── 7_LQ_game.ipynb └── rps ├── copg_rps.py ├── gda_rps.py ├── gifs ├── RPS CoPG vs CoPG.gif ├── RPS GDA vs GDA.gif └── RPS cropped counter.gif ├── network.py └── rps_game.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manish-pra/copg/HEAD/.gitignore -------------------------------------------------------------------------------- /.idea/.gitignore: -------------------------------------------------------------------------------- 1 | 2 | # Default ignored files 3 | /workspace.xml -------------------------------------------------------------------------------- /.idea/cpg.iml: 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