Code for: Wang, Allen, et al. "Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures." arXiv preprint arXiv:2005.13458 (2020).
We are currently in the process of organizing and cleaning up our code for presentation to the public.
Run source setup.sh. It will create a virtual environment that allows you to run the code, so you just need to run source venv/bin/activate and you should be able to run things.
/examples/position_risk_assessment.py utilizes the GMM position risk assessment methods.
STILL CLEANING UP: /examples/control_risk_assessment utilizes the control risk assessment methods. TreeRing is included in a separate package AlgebraicMoments.
All code for SOS risk assessment is in /risk_assess/sos_risk_assessment. We use Yalmip, so the SOS code is in MATLAB.
Allen Wang, allenw@mit.edu
Cyrus Huang, xhuang@csail.mit.edu