├── README.md ├── docs ├── index.html ├── model_docs │ └── README.md ├── prompt_docs │ └── README.md └── static │ ├── assets │ ├── bad cases │ │ ├── 40597a513c4cd3b7_3_context.json │ │ ├── 40597a513c4cd3b7_3_single_agent_compare.png │ │ ├── 46e1b23aed094397_30_context.json │ │ ├── 46e1b23aed094397_30_single_agent_compare.png │ │ ├── 4abec3a404fd34ed_0_context.json │ │ └── 4abec3a404fd34ed_0_single_agent_compare.png │ ├── brief_intro.mp4 │ ├── good cases │ │ ├── 2d8f02d2508daee1_24_context.json │ │ ├── 2d8f02d2508daee1_24_single_agent_compare.png │ │ ├── 2df2d7c392778971_129_context.json │ │ ├── 2df2d7c392778971_129_single_agent_compare.png │ │ ├── 52775755f68fe0d5_3_context.json │ │ ├── 52775755f68fe0d5_3_single_agent_compare.png │ │ ├── 558798413107fb_11_context.json │ │ ├── 558798413107fb_11_single_agent_compare.png │ │ ├── 558798413107fb_48_context.json │ │ └── 558798413107fb_48_single_agent_compare.png │ ├── idea.png │ └── propmt_example_1.png │ └── css │ ├── default.css │ └── index.css ├── fig ├── cover-gen-by-GPT.png ├── idea.png ├── knn.jpg ├── llm-augmented-mtr-integration-module.jpg ├── main_figure.png ├── promptDesign.png └── prompt_pages.png ├── llm_augmented_mtr ├── LLM_integrate │ ├── LLM_output │ │ ├── data_cleaning_dict.py │ │ ├── format_convert.py │ │ └── raw_data │ │ │ ├── add_result_0_10000_v.json │ │ │ ├── add_result_0_110000_c.json │ │ │ ├── add_result_0_30000_p.json │ │ │ ├── add_result_120000_200000_c.json │ │ │ ├── add_result_20000_30000_v.json │ │ │ └── add_result_30000_50000_p.json │ ├── embedding │ │ └── embedding_format.py │ └── tools │ │ ├── _init_path.py │ │ ├── cfgs │ │ ├── generate_context.yaml │ │ └── generate_feature_vector.yaml │ │ ├── delete_empty_str.py │ │ ├── generate_context.py │ │ ├── generate_feature_vector.py │ │ ├── generate_feature_vector_utils │ │ └── generate_feature_vector_utils.py │ │ └── scripts │ │ ├── generate_context.sh │ │ ├── generate_feature_vector.sh │ │ ├── run_embedding_generate.sh │ │ └── run_generate_context_for_whole_dataset.sh ├── data │ └── waymo │ │ └── cluster_64_center_dict.pkl ├── mtr │ ├── config.py │ ├── datasets │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── llm_context │ │ │ └── context_types.py │ │ └── waymo │ │ │ ├── data_preprocess.py │ │ │ ├── waymo_dataset.py │ │ │ ├── waymo_eval.py │ │ │ └── waymo_types.py │ ├── models │ │ ├── context_encoder │ │ │ ├── __init__.py │ │ │ └── mtr_encoder.py │ │ ├── model.py │ │ ├── motion_decoder │ │ │ ├── __init__.py │ │ │ └── mtr_decoder.py │ │ └── utils │ │ │ ├── common_layers.py │ │ │ ├── polyline_encoder.py │ │ │ └── transformer │ │ │ ├── multi_head_attention.py │ │ │ ├── multi_head_attention_local.py │ │ │ ├── position_encoding_utils.py │ │ │ ├── transformer_decoder_layer.py │ │ │ └── transformer_encoder_layer.py │ ├── ops │ │ ├── attention │ │ │ ├── __init__.py │ │ │ ├── attention_cuda.cpython-38-x86_64-linux-gnu.so │ │ │ ├── attention_utils.py │ │ │ ├── attention_utils_v2.py │ │ │ └── src │ │ │ │ ├── attention_api.cpp │ │ │ │ ├── attention_func.cpp │ │ │ │ ├── attention_func.h │ │ │ │ ├── attention_func_v2.cpp │ │ │ │ ├── attention_func_v2.h │ │ │ │ ├── attention_value_computation_kernel.cu │ │ │ │ ├── attention_value_computation_kernel_v2.cu │ │ │ │ ├── attention_weight_computation_kernel.cu │ │ │ │ └── attention_weight_computation_kernel_v2.cu │ │ └── knn │ │ │ ├── knn_cuda.cpython-38-x86_64-linux-gnu.so │ │ │ ├── knn_utils.py │ │ │ └── src │ │ │ ├── knn.cpp │ │ │ ├── knn_api.cpp │ │ │ ├── knn_gpu.cu │ │ │ └── knn_gpu.h │ ├── utils │ │ ├── common_utils.py │ │ ├── loss_utils.py │ │ └── motion_utils.py │ └── version.py ├── requirements.txt ├── setup.py ├── submit_to_waymo │ └── submit.py └── tools │ ├── _init_path.py │ ├── cfgs │ └── waymo │ │ ├── mtr+100_percent_data.yaml │ │ ├── mtr+100_percent_data_llm_augmented.yaml │ │ ├── mtr+20_percent_data.yaml │ │ └── mtr+20_percent_data_llm_augmented.yaml │ ├── eval_utils │ └── eval_utils.py │ ├── run │ ├── dist_test.sh │ ├── dist_test_llm_augmented_mtr.sh │ ├── dist_train.sh │ ├── dist_train_llm_augmented_mtr.sh │ ├── dist_valid.sh │ └── dist_valid_llm_augmented_mtr.sh │ ├── scripts │ ├── dist_test.sh │ ├── dist_train.sh │ └── torchrun_train.sh │ ├── test.py │ ├── train.py │ ├── train_utils │ └── train_utils.py │ └── visualization │ ├── visualize_multi_interested_agent.py │ ├── visualize_multi_interested_agent_compare.py │ ├── visualize_single_interested_agent.py │ └── visualize_single_interested_agent_compare.py ├── llm_augmented_prompt ├── data │ ├── random_val_list.txt │ ├── samples │ │ ├── 3d9982184d8af7c0_3_V_STRAIGHT.png │ │ ├── 3d9982184d8af7c0_3_V_STRAIGHT.txt │ │ ├── 47abb816bf00b9c1_115_P_STRAIGHT.png │ │ ├── 47abb816bf00b9c1_115_P_STRAIGHT.txt │ │ ├── a1bdf5c2af01557a_50_C_STRAIGHT.png │ │ └── a1bdf5c2af01557a_50_C_STRAIGHT.txt │ └── text_prompt.txt ├── prompt │ └── result_quantify.py ├── requirements.txt ├── tc_map │ ├── generate.py │ └── map_utils.py └── tools │ └── agent_icons │ ├── 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