DCBF-GSAC algorithm

Here, we provide the code for our proposed GSAC and DCBF-GSAC algorithms, whose core iterative learning concept is proposed for the first time. GSAC is a standard DRL algorithm, similar to SAC, TD3, and others, and can be applied to arbitrary control tasks. DCBF-GSAC builds upon GSAC by incorporating a safety controller based on DCBF and effectively integrating the safety experience provided by DCBF with GSAC. DCBF-GSAC is a safe DRL framework that can also be combined with other safety controllers. The provided code includes detailed configuration examples, making it easy to deploy in specified control tasks.