Code for paper Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function submitted to 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). An OpenAI safety-gym third-party environment with SUMO.
This repo is modified from the original version.
- Ubuntu 16.04 or 18.04
- SUMO <= 1.7.0
- safety-gym environment
- Integrated Decision and Control Scheme for Autonomous Driving and Corresponding training environments.
This paper provides a integrated decision and control scheme for autonomous vehicles, and provides the major supporting techniques for the real vehicle experiment in this paper.
@article{guan2021integrated,
title={Integrated Decision and Control: Towards Interpretable and Efficient Driving Intelligence},
author={Guan, Yang and Ren, Yangang and Li, Shengbo Eben and Ma, Haitong and Duan, Jingliang and Cheng, Bo},
journal={arXiv preprint arXiv:2103.10290},
year={2021}
}