├── .gitignore ├── .idea ├── .gitignore ├── icmlws2022_zq.iml ├── inspectionProfiles │ ├── Project_Default.xml │ └── profiles_settings.xml ├── misc.xml ├── modules.xml ├── saferl_kit.iml └── vcs.xml ├── imgs └── framework.png ├── plot.py ├── plot.sh ├── readme.md ├── requirements.txt ├── saferl_algos ├── __init__.py ├── fac.py ├── lagrangian.py ├── recovery.py ├── safetylayer.py ├── safetyplusplus.py └── unconstrained.py ├── saferl_envs ├── __init__.py ├── bullet_safety_gym │ ├── __init__.py │ └── envs │ │ ├── __init__.py │ │ ├── agents.py │ │ ├── bases.py │ │ ├── builder.py │ │ ├── data │ │ ├── obstacles │ │ │ ├── apple.urdf │ │ │ ├── bomb.urdf │ │ │ ├── box.urdf │ │ │ ├── checker_huge.gif │ │ │ ├── circle_zone.urdf │ │ │ ├── goal_zone.urdf │ │ │ ├── line_boundary.urdf │ │ │ ├── octagon_wall.urdf │ │ │ ├── orb.urdf │ │ │ ├── pillar.urdf │ │ │ ├── puck.STL │ │ │ ├── puck.mtl │ │ │ ├── puck.obj │ │ │ ├── puck.urdf │ │ │ ├── puddle.urdf │ │ │ ├── room_20x20.urdf │ │ │ ├── room_30x30.urdf │ │ │ ├── room_40x40.urdf │ │ │ ├── sphere.urdf │ │ │ ├── sphere2.urdf │ │ │ ├── textured_sphere_smooth.mtl │ │ │ └── textured_sphere_smooth.obj │ │ ├── plane │ │ │ ├── checker_blue.png │ │ │ ├── plane.mtl │ │ │ ├── plane10.obj │ │ │ ├── plane10.urdf │ │ │ ├── plane100.obj │ │ │ ├── plane100.urdf │ │ │ ├── plane15.obj │ │ │ ├── plane15.urdf │ │ │ ├── plane20.obj │ │ │ ├── plane20.urdf │ │ │ ├── plane250.obj │ │ │ ├── plane250.urdf │ │ │ ├── plane_default.sdf │ │ │ └── simple_plane.urdf │ │ └── robots │ │ │ ├── ball │ │ │ ├── ball.urdf │ │ │ ├── checker_huge.gif │ │ │ ├── textured_sphere_smooth.mtl │ │ │ └── textured_sphere_smooth.obj │ │ │ ├── mujoco │ │ │ ├── ant.xml │ │ │ ├── half_cheetah.xml │ │ │ ├── hopper.xml │ │ │ ├── humanoid.xml │ │ │ ├── humanoid_fixed.xml │ │ │ ├── humanoid_symmetric.xml │ │ │ ├── humanoid_symmetric_no_ground.xml │ │ │ └── walker2d.xml │ │ │ ├── quadcopter │ │ │ ├── meshes │ │ │ │ ├── asus_camera_simple.dae │ │ │ │ ├── camera.dae │ │ │ │ ├── hummingbird.dae │ │ │ │ ├── iris.dae │ │ │ │ ├── iris_prop_ccw.dae │ │ │ │ ├── iris_prop_cw.dae │ │ │ │ ├── kinect.dae │ │ │ │ ├── kinect.tga │ │ │ │ ├── kinect_camera_simple.dae │ │ │ │ ├── kinect_camera_simple.stl │ │ │ │ ├── max_sonar_ez4.dae │ │ │ │ ├── propeller_ccw.dae │ │ │ │ ├── propeller_cw.dae │ │ │ │ ├── robotparts.png │ │ │ │ ├── thermaleye_camera_hector_v1.dae │ │ │ │ └── thermaleye_camera_hector_v2.dae │ │ │ └── quadcopter.urdf │ │ │ └── racecar │ │ │ ├── differential │ │ │ ├── diff_arm.stl │ │ │ ├── diff_carrier.stl │ │ │ ├── diff_carrier_cover.stl │ │ │ ├── diff_leftshaft.stl │ │ │ ├── diff_motor_cover.stl │ │ │ ├── diff_pinion.stl │ │ │ ├── diff_rightshaft.stl │ │ │ ├── diff_ring.stl │ │ │ ├── diff_ring.urdf │ │ │ ├── diff_side.stl │ │ │ ├── diff_spider.stl │ │ │ ├── diff_spider_shaft.stl │ │ │ ├── diff_stand.stl │ │ │ └── modelorigin.txt │ │ │ ├── meshes │ │ │ ├── chassis.STL │ │ │ ├── chassis.dae │ │ │ ├── chassis_differential.STL │ │ │ ├── checker_blue.png │ │ │ ├── cone.dae │ │ │ ├── cone.mtl │ │ │ ├── cone.obj │ │ │ ├── hokuyo.dae │ │ │ ├── hokuyo.mtl │ │ │ ├── hokuyo.obj │ │ │ ├── left_front_wheel.STL │ │ │ ├── left_front_wheel.dae │ │ │ ├── left_front_wheel.mtl │ │ │ ├── left_front_wheel.obj │ │ │ ├── left_rear_wheel.STL │ │ │ ├── left_rear_wheel.dae │ │ │ ├── left_rear_wheel.mtl │ │ │ ├── left_rear_wheel.obj │ │ │ ├── left_steering_hinge.STL │ │ │ ├── left_steering_hinge.dae │ │ │ ├── parking_1.dae │ │ │ ├── right_front_wheel.STL │ │ │ ├── right_front_wheel.dae │ │ │ ├── right_front_wheel.mtl │ │ │ ├── right_front_wheel.obj │ │ │ ├── right_rear_wheel.STL │ │ │ ├── right_rear_wheel.dae │ │ │ ├── right_rear_wheel.mtl │ │ │ ├── right_rear_wheel.obj │ │ │ ├── right_steering_hinge.STL │ │ │ ├── right_steering_hinge.dae │ │ │ ├── walker_racecourse.dae │ │ │ └── wheel.jpg │ │ │ └── racecar_differential.urdf │ │ ├── env_utils.py │ │ ├── obstacles.py │ │ ├── sensors.py │ │ ├── tasks.py │ │ └── worlds.py ├── config_overrides │ ├── stable_task.yaml │ ├── stable_task_gui.yaml │ ├── traj_task.yaml │ └── traj_task_gui.yaml ├── panda_gym │ ├── __init__.py │ ├── assets │ │ ├── __init__.py │ │ ├── checker_blue.png │ │ ├── colored_cube.png │ │ ├── plane.mtl │ │ ├── plane10.obj │ │ └── plane10.urdf │ ├── envs │ │ ├── __init__.py │ │ ├── core.py │ │ ├── panda_tasks │ │ │ ├── __init__.py │ │ │ ├── panda_flip.py │ │ │ ├── panda_pick_and_place.py │ │ │ ├── panda_push.py │ │ │ ├── panda_reach.py │ │ │ ├── panda_slide.py │ │ │ └── panda_stack.py │ │ ├── robots │ │ │ ├── __init__.py │ │ │ └── panda.py │ │ └── tasks │ │ │ ├── __init__.py │ │ │ ├── flip.py │ │ │ ├── pick_and_place.py │ │ │ ├── push.py │ │ │ ├── reach.py │ │ │ ├── slide.py │ │ │ └── stack.py │ ├── pretrained │ │ ├── TD3_PandaPush-v2_0_actor │ │ ├── TD3_PandaPush-v2_0_actor_optimizer │ │ ├── TD3_PandaPush-v2_0_critic │ │ └── TD3_PandaPush-v2_0_critic_optimizer │ ├── pybullet.py │ ├── utils.py │ └── version.txt ├── safe_control_gym │ ├── __init__.py │ ├── controllers │ │ ├── __init__.py │ │ ├── base_controller.py │ │ ├── cbf │ │ │ ├── __init__.py │ │ │ ├── cbf.py │ │ │ ├── cbf_qp.py │ │ │ ├── cbf_qp.yaml │ │ │ ├── cbf_qp_learn.yaml │ │ │ ├── cbf_qp_test.yaml │ │ │ ├── cbf_qp_utils.py │ │ │ └── cbf_qp_verify.yaml │ │ ├── lqr │ │ │ ├── __init__.py │ │ │ ├── ilqr.py │ │ │ ├── ilqr.yaml │ │ │ ├── lqr.py │ │ │ ├── lqr.yaml │ │ │ └── lqr_utils.py │ │ ├── mpc │ │ │ ├── __init__.py │ │ │ ├── gp_mpc.py │ │ │ ├── gp_mpc.yaml │ │ │ ├── gp_utils.py │ │ │ ├── linear_mpc.py │ │ │ ├── linear_mpc.yaml │ │ │ ├── mpc.py │ │ │ ├── mpc.yaml │ │ │ └── mpc_utils.py │ │ ├── mpsc │ │ │ ├── __init__.py │ │ │ ├── mpsc.py │ │ │ ├── mpsc.yaml │ │ │ └── mpsc_utils.py │ │ ├── pid │ │ │ ├── __init__.py │ │ │ ├── pid.py │ │ │ └── pid.yaml │ │ ├── ppo │ │ │ ├── __init__.py │ │ │ ├── ppo.py │ │ │ ├── ppo.yaml │ │ │ └── ppo_utils.py │ │ ├── rarl │ │ │ ├── __init__.py │ │ │ ├── rap.py │ │ │ ├── rap.yaml │ │ │ ├── rarl.py │ │ │ ├── rarl.yaml │ │ │ └── rarl_utils.py │ │ ├── sac │ │ │ ├── __init__.py │ │ │ ├── sac.py │ │ │ ├── sac.yaml │ │ │ └── sac_utils.py │ │ └── safe_explorer │ │ │ ├── __init__.py │ │ │ ├── safe_explorer_utils.py │ │ │ ├── safe_ppo.py │ │ │ ├── safe_ppo.yaml │ │ │ └── safe_ppo_utils.py │ ├── envs │ │ ├── __init__.py │ │ ├── benchmark_env.py │ │ ├── constraints.py │ │ ├── disturbances.py │ │ ├── env_wrappers │ │ │ ├── __init__.py │ │ │ ├── record_episode_statistics.py │ │ │ └── vectorized_env │ │ │ │ ├── __init__.py │ │ │ │ ├── dummy_vec_env.py │ │ │ │ ├── subproc_vec_env.py │ │ │ │ ├── vec_env.py │ │ │ │ └── vec_env_utils.py │ │ ├── gym_control │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ └── cartpole_template.urdf │ │ │ ├── cartpole.py │ │ │ └── cartpole.yaml │ │ └── gym_pybullet_drones │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ ├── cf2.dae │ │ │ └── cf2x.urdf │ │ │ ├── base_aviary.py │ │ │ ├── quadrotor.py │ │ │ ├── quadrotor.yaml │ │ │ └── quadrotor_utils.py │ ├── math_and_models │ │ ├── __init__.py │ │ ├── distributions.py │ │ ├── neural_networks.py │ │ ├── normalization.py │ │ └── symbolic_systems.py │ └── utils │ │ ├── __init__.py │ │ ├── configuration.py │ │ ├── logging.py │ │ ├── plotting.py │ │ ├── registration.py │ │ └── utils.py └── safety_gym │ ├── __init__.py │ ├── bench │ ├── bench_utils.py │ └── characteristic_scores.json │ ├── envs │ ├── __init__.py │ ├── engine.py │ ├── mujoco.py │ ├── suite.py │ └── world.py │ ├── random_agent.py │ ├── test │ ├── obs_space_refs.pkl │ ├── test_bench.py │ ├── test_button.py │ ├── test_determinism.py │ ├── test_engine.py │ ├── test_envs.py │ ├── test_goal.py │ └── test_obs.py │ └── xmls │ ├── README.md │ ├── car.xml │ ├── doggo.xml │ └── point.xml ├── saferl_plotter ├── __init__.py ├── log_utils.py ├── logger.py ├── plot_utils.py └── plotter.py ├── saferl_utils ├── __init__.py ├── networks.py └── replay_buffer.py ├── train_speedlimit.py └── train_stabilization.py /.gitignore: -------------------------------------------------------------------------------- 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