This is the code with the paper: 'Combining Deep Reinforcement Learning and Safety Based Control for Autonomous Driving.' https://arxiv.org/pdf/1612.00147.pdf'.
#The basic idea here is to combine model-free learning with model-based control to improve long-term control performance.
#The Deep Deterministic Policy Gradient (DDPG) is the model-free learning framework.
#The simulation platform is TORCS.
- The combination algorithm is in gym_torcs.py.