├── .gitignore ├── LICENSE ├── README.md ├── assets └── teaser.png ├── configs ├── dit_config_dcae_nuplan.py └── dit_config_dcae_nuscenes.py ├── data_preparation ├── README.md └── create_nuplan_json.py ├── dataset ├── __init__.py ├── augmentation.py ├── create_dataset.py ├── dataset.py ├── dataset_demo.py ├── dataset_nuplan.py ├── dataset_nusc.py └── datasets_utils.py ├── models ├── __init__.py ├── diffusion │ ├── __init__.py │ ├── diffusion_utils.py │ ├── gaussian_diffusion.py │ ├── rectified_flow.py │ └── respace.py ├── flux_dit.py ├── model.py ├── modules │ ├── __init__.py │ ├── autoencoder.py │ ├── dcae.py │ ├── dcae_layers │ │ ├── __init__.py │ │ ├── act.py │ │ ├── discriminator.py │ │ ├── drop.py │ │ ├── norm.py │ │ ├── ops.py │ │ ├── triton_rms_norm.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── list.py │ │ │ ├── network.py │ │ │ └── random.py │ ├── dit_modules │ │ ├── conditioner.py │ │ ├── image_embedders.py │ │ ├── layers.py │ │ ├── lora.py │ │ └── math.py │ ├── sampling.py │ └── tokenizer.py ├── stt.py └── traj_dit.py ├── requirements.txt ├── scripts ├── test │ ├── test_ctrl.py │ ├── test_demo.py │ ├── test_free.py │ ├── test_nuplan.py │ ├── test_nuscenes.py │ └── test_traj.py └── train_deepspeed.py └── utils ├── __init__.py ├── comm.py ├── config_utils.py ├── deepspeed_utils.py ├── distributed.py ├── embeddings.py ├── fft_utils.py ├── logger.py ├── merge_dataset.py ├── preprocess.py ├── rope_2d.py ├── running.py ├── testing_utils.py └── utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kevin-thu/Epona/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kevin-thu/Epona/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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