├── .github └── workflows │ └── pythonpackage.yml ├── .gitignore ├── .gitlab-ci.yml ├── Dockerfile ├── LOG.md ├── README.md ├── bayes_cbf ├── __init__.py ├── bulletcar │ ├── __init__.py │ ├── data │ │ ├── checker_blue.png │ │ ├── plane.mtl │ │ ├── plane100.obj │ │ └── plane_stadium_with_obstacles.sdf │ └── racecar.py ├── car │ ├── HyundaiGenesis.py │ ├── __init__.py │ ├── core.py │ ├── data │ │ ├── lexus_hs.mtl │ │ ├── lexus_hs.obj │ │ ├── lexus_hs.stl │ │ ├── lexus_hs_diffuse.jpg │ │ ├── obs.stl │ │ └── walls.stl │ ├── main.py │ └── vis.py ├── cbc1.py ├── cbc2.py ├── control_affine_model.py ├── controllers.py ├── gp_algebra.py ├── ilqr.py ├── matrix_variate_multitask_kernel.py ├── matrix_variate_multitask_model.py ├── misc.py ├── numpy2torch.py ├── optimizers.py ├── pendulum.py ├── planner.py ├── plotting.py ├── sampling.py ├── trigger_interval.py └── unicycle_move_to_pose.py ├── docs ├── .nojekyll ├── assets │ ├── css │ │ ├── bootstrap.min.css │ │ ├── icra18-style.css │ │ └── ie10-viewport-bug-workaround.css │ ├── fig │ │ ├── icra-mrp18-logo.svg │ │ ├── icra18-logo.svg │ │ ├── icra2020-banner.jpg │ │ ├── icra2020-banner.png │ │ ├── icra2020-banner.xcf │ │ ├── isee-logo.png │ │ ├── rcw-icra18-logo.svg │ │ └── rcw-proposed-icra18-logo.svg │ ├── js │ │ ├── bootstrap.min.js │ │ ├── ie-emulation-modes-warning.js │ │ └── ie10-viewport-bug-workaround.js │ ├── unicycle_move_to_pose_fixed_learning_helps_avoid_getting_stuck_v1.2.3_animation.gif │ ├── unicycle_move_to_pose_fixed_mean_cbf_collides_1209-1257_animation.gif │ ├── unicycle_move_to_pose_fixed_mean_cbf_collides_v1.2.3_animation.gif │ └── unicycle_move_to_pose_fixed_no_learning_gets_stuck_v1.2.3_animation.gif ├── gen_ref_pages.py ├── index.html ├── jekyll_config_unused.yml ├── requirements.txt └── saved-runs │ ├── learn_dynamics_v1.0.2 │ ├── events.out.tfevents.1606951767.dwarf.13002.0 │ ├── learned_f_g_vs_true_f_g.pdf │ └── plot_learned_vs_true.py │ ├── learn_matrix_vector_independent_v1.1.0 │ ├── events.out.tfevents.1607382261.dwarf.5274.7 │ ├── learned_f_g_vs_true_f_g_mat_vec_ind.pdf │ └── plot.py │ ├── learn_matrix_vector_independent_v1.5.1-5-g90f04f2 │ ├── events.out.tfevents.1608617999.dwarf.20956.0 │ ├── learned_f_g_vs_true_f_g_mat_vec_ind.pdf │ └── vector_matrix_independent_learning_error.txt │ ├── learn_matrix_vector_v1.5.2-2-g31b30e1 │ ├── events.out.tfevents.1608660837.dwarf.18847.0 │ ├── learned_f_g_vs_true_f_g_mat_vec_ind.pdf │ └── vector_matrix_learning_error.txt │ ├── speed_test_matrix_vector_independent_v1.2.2 │ ├── events.out.tfevents.1607401666.dwarf.27869.0 │ └── speed_test_mat_vec_ind.pdf │ ├── speed_test_matrix_vector_independent_v1.2.3 │ ├── events.out.tfevents.1607536185.dwarf.9788.0 │ ├── events.out.tfevents.1607984894.dwarf.20939.0 │ └── speed_test_mat_vec_ind.pdf │ ├── speed_test_matrix_vector_independent_v1.5.1-5-g90f04f2 │ ├── events.out.tfevents.1608618034.dwarf.20956.1 │ └── speed_test_mat_vec_ind.pdf │ ├── speed_test_matrix_vector_v1.6.1 │ ├── events.out.tfevents.1608668171.dwarf.28939.1 │ └── speed_test_mat_vec_ind.pdf │ ├── unicycle_move_to_pose_fixed_ackerman_1116-2054 │ ├── config.json │ ├── events.out.tfevents.1605588851.dwarf.27333.0 │ └── vis.pdf │ ├── unicycle_move_to_pose_fixed_ackerman_1116-2059 │ ├── config.json │ ├── events.out.tfevents.1605589152.dwarf.27333.1 │ └── vis.pdf │ ├── unicycle_move_to_pose_fixed_ackerman_1116-2102 │ ├── config.json │ ├── events.out.tfevents.1605589325.dwarf.27333.2 │ └── vis.pdf │ ├── unicycle_move_to_pose_fixed_learning_helps_avoid_getting_stuck_v1.2.3 │ ├── animation.gif │ ├── animation.mp4 │ ├── config.json │ ├── events.out.tfevents.1607556260.dwarf.29246.5 │ └── final_visualization.pdf │ ├── unicycle_move_to_pose_fixed_learning_helps_avoid_getting_stuck_v1.6.2-29-gffc84c6 │ ├── Lfh.np.txt │ ├── config.json │ ├── events.out.tfevents.1629403712.dwarf.9630.0 │ ├── tau.np.txt │ ├── triggering_time.pdf │ └── xvel.np.txt │ ├── unicycle_move_to_pose_fixed_learning_helps_avoid_getting_stuck_v1.6.2 │ ├── animation.mp4 │ ├── config.json │ ├── events.out.tfevents.1609195616.dwarf.4891.1 │ └── final_visualization.pdf │ ├── unicycle_move_to_pose_fixed_learning_helps_avoid_getting_stuck_v1.6.3-1-g5fa08e8 │ ├── Lfh.np.txt │ ├── Lfh_num.np.txt │ ├── config.json │ ├── events.out.tfevents.1629498656.dwarf.4257.0 │ ├── tau.np.txt │ ├── tau_num.np.txt │ ├── triggering_time.pdf │ └── xvel.np.txt │ ├── unicycle_move_to_pose_fixed_mean_cbf_collides_1209-1255 │ ├── animation.gif │ ├── animation.mp4 │ ├── config.json │ ├── events.out.tfevents.1607547300.dwarf.21167.1 │ ├── events.out.tfevents.1607547343.dwarf.21167.2 │ └── final_visualization.pdf │ ├── unicycle_move_to_pose_fixed_mean_cbf_collides_1209-1257 │ ├── animation.gif │ ├── animation.mp4 │ ├── config.json │ ├── events.out.tfevents.1607547439.dwarf.21167.3 │ └── final_visualization.pdf │ ├── unicycle_move_to_pose_fixed_mean_cbf_collides_v1.2.3 │ ├── animation.gif │ ├── animation.mp4 │ ├── config.json │ ├── events.out.tfevents.1607553179.dwarf.29246.1 │ └── final_visualization.pdf │ ├── unicycle_move_to_pose_fixed_no_learning_gets_stuck_v1.2.3 │ ├── animation.gif │ ├── animation.mp4 │ ├── config.json │ ├── events.out.tfevents.1607557945.dwarf.29246.8 │ └── final_visualization.pdf │ ├── unicycle_move_to_pose_fixed_no_learning_gets_stuck_v1.6.2 │ ├── animation.mp4 │ ├── config.json │ ├── events.out.tfevents.1609195377.dwarf.4891.0 │ └── final_visualization.pdf │ ├── unicycle_plot_covariances_v1.6.2-18-g15ad4c0 │ ├── CoGP_covariances_proj.pdf │ ├── MVGP_covariances_proj.pdf │ └── events.out.tfevents.1626640030.dwarf.12346.0 │ ├── unicycle_speed_test_matrix_vector_independent_v1.5.1-5-g90f04f2 │ ├── events.out.tfevents.1608622049.dwarf.24753.0 │ └── speed_test_mat_vec_ind.pdf │ └── unicycle_speed_test_matrix_vector_v1.6.1-1-gd845a15 │ ├── events.out.tfevents.1608669492.dwarf.656.0 │ └── speed_test_mat_vec_ind.pdf ├── extra └── kubernetes_job.yaml ├── 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