├── Experiment ├── Data │ └── JSON_output │ │ └── readme.md ├── Left_Turn_Scenario │ ├── behaviors.py │ ├── goal_likelihood.py │ └── scenario_specifics.py ├── Overtake_Scenario │ ├── behaviors.py │ ├── goal_likelihood.py │ └── scenario_specifics.py ├── Right_Turn_Scenario │ ├── behaviors.py │ ├── goal_likelihood.py │ └── scenario_specifics.py ├── Utils │ ├── imports.py │ └── prepare_data.py ├── planning.py ├── scenario_runner.py ├── scenario_runner_mfp.py └── test.sh ├── LICENSE.txt ├── Model └── esp_train_results │ └── 2021-01 │ └── 01-24-20-31-06_Left_Turn_Dataset_precog.bijection.social_convrnn.SocialConvRNN_ │ ├── collections.dill │ ├── esp-model-668000.data-00000-of-00001 │ ├── esp-model-668000.index │ └── esp-model-668000.meta ├── examples ├── contextless_rnn_trimodal0.png └── contextless_rnn_trimodal1.png ├── notebooks ├── interp_debug.ipynb ├── multiagent_rollout_debug.ipynb ├── nuscenes_vis.ipynb ├── rollout_debug.ipynb └── trimodal_vis.ipynb ├── precog ├── __init__.py ├── bijection │ ├── __init__.py │ ├── bijection_helpers.py │ ├── contextless_rnn.py │ ├── convrnn.py │ ├── dynamic_rnn.py │ ├── esp_bijection.py │ ├── fixedmu_fixedI.py │ ├── independent_past_rnn.py │ ├── social_convrnn.py │ └── zero_I.py ├── conf │ ├── bijection │ │ ├── contextless_rnn.yaml │ │ ├── convrnn.yaml │ │ ├── dynamic_rnn.yaml │ │ ├── fixedmu_fixedI.yaml │ │ ├── independent_past_rnn.yaml │ │ ├── social_convrnn.yaml │ │ └── zero_i.yaml │ ├── dataset │ │ ├── Custom_Dataset.yaml │ │ ├── carla_town01_A1_T20.yaml │ │ ├── carla_town01_A1_T20_lightstate.yaml │ │ ├── carla_town01_A1_T20_lightstate_streamingloader.yaml │ │ ├── carla_town01_A1_T20_v1.yaml │ │ ├── carla_town01_A1_T20_v2.yaml │ │ ├── carla_town01_A5_T20.yaml │ │ ├── nuscenes_dataset.yaml │ │ ├── nuscenes_mini_dataset.yaml │ │ ├── trimodal_dataset.py │ │ └── trimodal_dataset.yaml │ ├── distribution │ │ └── bijective_distribution.yaml │ ├── esp_infer_config.yaml │ ├── esp_train_config.yaml │ ├── hardware │ │ ├── savio_cluster.yaml │ │ └── shared_gpu.yaml │ ├── objective │ │ ├── forward_kl.yaml │ │ └── symmetric_cross_entropy.yaml │ ├── optimizer │ │ └── sgd_optimizer.yaml │ ├── proxy │ │ ├── binary_mask_proxy.yaml │ │ └── empty_proxy.yaml │ ├── sample_metric │ │ ├── mhat.yaml │ │ └── minmsd.yaml │ └── server │ │ ├── brc.yaml │ │ └── local_nfs.yaml ├── dataset │ ├── __init__.py │ ├── metadata_producers.py │ ├── minibatched_dataset.py │ ├── preprocess_nuscenes.py │ ├── preprocess_nuscenes_conf.yaml │ ├── serialized_dataset.py │ └── trimodal_dataset.py ├── distribution │ ├── bijective_distribution.py │ ├── binary_mask_proxy.py │ └── empty_proxy.py ├── esp_infer.py ├── esp_train.py ├── ext │ └── nuscenes │ │ ├── __init__.py │ │ ├── nuscenes.py │ │ └── utils │ │ ├── __init__.py │ │ ├── data_classes.py │ │ ├── geometry_utils.py │ │ ├── map_mask.py │ │ └── splits.py ├── interface.py ├── objective │ ├── forward_kl.py │ └── symmetric_cross_entropy.py ├── optimizer │ ├── __init__.py │ ├── default.py │ 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