├── .gitignore ├── LICENSE ├── README.md ├── core ├── __init__.py ├── architectures.py ├── carla_agent.py ├── carla_env.py ├── learning.py └── networks.py ├── evaluation ├── Evaluation.ipynb └── evaluation.json ├── main.py ├── requirements.txt ├── rl ├── __init__.py ├── agents │ ├── __init__.py │ ├── agents.py │ └── ppo.py ├── augmentations │ ├── __init__.py │ ├── augmentations.py │ └── simclr.py ├── environments │ ├── __init__.py │ └── carla │ │ ├── __init__.py │ │ ├── env_utils.py │ │ ├── environment.py │ │ ├── navigation │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── behavior_agent.py │ │ ├── controller.py │ │ ├── global_route_planner.py │ │ ├── global_route_planner_dao.py │ │ ├── local_planner_behavior.py │ │ ├── road_option.py │ │ ├── route.py │ │ ├── route_planner.py │ │ └── types_behavior.py │ │ ├── sensors.py │ │ └── tools │ │ ├── misc.py │ │ ├── synchronous_mode.py │ │ └── utils.py ├── networks │ ├── __init__.py │ ├── architectures.py │ └── networks.py ├── parameters │ ├── __init__.py │ └── parameters.py └── utils.py ├── src ├── absolute_performance.png ├── agent_architecture.png ├── agent_town01_day.gif ├── agent_town02_day.gif ├── agent_town07_eve.gif ├── agent_town07_night.gif └── extensive_evaluation_table.png ├── vehicles.txt └── weights ├── stage-s2 ├── checkpoint ├── config.json ├── dynamics_model.data-00000-of-00002 ├── dynamics_model.data-00001-of-00002 ├── dynamics_model.index ├── policy_net.data-00000-of-00002 ├── policy_net.data-00001-of-00002 ├── policy_net.index ├── value_net.data-00000-of-00002 ├── value_net.data-00001-of-00002 └── value_net.index ├── stage-s3 ├── checkpoint ├── config.json ├── dynamics_model.data-00000-of-00002 ├── dynamics_model.data-00001-of-00002 ├── dynamics_model.index ├── policy_net.data-00000-of-00002 ├── policy_net.data-00001-of-00002 ├── policy_net.index ├── value_net.data-00000-of-00002 ├── value_net.data-00001-of-00002 └── value_net.index ├── stage-s4 ├── checkpoint ├── config.json ├── dynamics_model.data-00000-of-00002 ├── dynamics_model.data-00001-of-00002 ├── dynamics_model.index ├── policy_net.data-00000-of-00002 ├── policy_net.data-00001-of-00002 ├── policy_net.index ├── value_net.data-00000-of-00002 ├── value_net.data-00001-of-00002 └── value_net.index ├── stage-s5-curriculum ├── checkpoint ├── config.json ├── dynamics_model.data-00000-of-00002 ├── dynamics_model.data-00001-of-00002 ├── dynamics_model.index ├── evaluation │ ├── stage-s5-curriculum-test-512-50-Town01-dense-42.json │ ├── stage-s5-curriculum-test-512-50-Town01-no-42.json │ ├── stage-s5-curriculum-test-512-50-Town01-regular-42.json │ ├── stage-s5-curriculum-test-512-50-Town02-dense-42.json │ ├── stage-s5-curriculum-test-512-50-Town02-no-42.json │ ├── stage-s5-curriculum-test-512-50-Town02-regular-42.json │ ├── stage-s5-curriculum-test-512-50-Town03-dense-42.json │ ├── stage-s5-curriculum-test-512-50-Town03-no-42.json │ ├── stage-s5-curriculum-test-512-50-Town03-regular-42.json │ ├── stage-s5-curriculum-test-512-50-Town04-dense-42.json │ ├── stage-s5-curriculum-test-512-50-Town04-no-42.json │ ├── stage-s5-curriculum-test-512-50-Town04-regular-42.json │ ├── stage-s5-curriculum-test-512-50-Town05-dense-42.json │ ├── stage-s5-curriculum-test-512-50-Town05-no-42.json │ ├── stage-s5-curriculum-test-512-50-Town05-regular-42.json │ ├── stage-s5-curriculum-test-512-50-Town06-dense-42.json │ ├── stage-s5-curriculum-test-512-50-Town06-no-42.json │ ├── stage-s5-curriculum-test-512-50-Town06-regular-42.json │ ├── stage-s5-curriculum-test-512-50-Town07-dense-42.json │ ├── stage-s5-curriculum-test-512-50-Town07-no-42.json │ ├── stage-s5-curriculum-test-512-50-Town07-regular-42.json │ ├── stage-s5-curriculum-test-512-50-Town10-dense-42.json │ ├── stage-s5-curriculum-test-512-50-Town10-no-42.json │ ├── stage-s5-curriculum-test-512-50-Town10-regular-42.json │ ├── stage-s5-curriculum-train-512-50-Town01-dense-42.json │ ├── stage-s5-curriculum-train-512-50-Town01-no-42.json │ ├── stage-s5-curriculum-train-512-50-Town01-regular-42.json │ ├── stage-s5-curriculum-train-512-50-Town02-dense-42.json │ ├── stage-s5-curriculum-train-512-50-Town02-no-42.json │ ├── stage-s5-curriculum-train-512-50-Town02-regular-42.json │ ├── stage-s5-curriculum-train-512-50-Town03-dense-42.json │ ├── stage-s5-curriculum-train-512-50-Town03-no-42.json │ ├── stage-s5-curriculum-train-512-50-Town03-regular-42.json │ ├── stage-s5-curriculum-train-512-50-Town04-dense-42.json │ ├── stage-s5-curriculum-train-512-50-Town04-no-42.json │ ├── stage-s5-curriculum-train-512-50-Town04-regular-42.json │ ├── stage-s5-curriculum-train-512-50-Town05-dense-42.json │ ├── stage-s5-curriculum-train-512-50-Town05-no-42.json │ ├── stage-s5-curriculum-train-512-50-Town05-regular-42.json │ ├── stage-s5-curriculum-train-512-50-Town06-dense-42.json │ ├── stage-s5-curriculum-train-512-50-Town06-no-42.json │ ├── stage-s5-curriculum-train-512-50-Town06-regular-42.json │ ├── stage-s5-curriculum-train-512-50-Town07-dense-42.json │ ├── stage-s5-curriculum-train-512-50-Town07-no-42.json │ ├── stage-s5-curriculum-train-512-50-Town07-regular-42.json │ ├── stage-s5-curriculum-train-512-50-Town10-dense-42.json │ ├── stage-s5-curriculum-train-512-50-Town10-no-42.json │ └── stage-s5-curriculum-train-512-50-Town10-regular-42.json ├── policy_net.data-00000-of-00002 ├── policy_net.data-00001-of-00002 ├── policy_net.index ├── value_net.data-00000-of-00002 ├── value_net.data-00001-of-00002 └── value_net.index ├── stage-s5-standard ├── checkpoint ├── config.json ├── dynamics_model.data-00000-of-00002 ├── dynamics_model.data-00001-of-00002 ├── dynamics_model.index ├── evaluation │ ├── stage-s5-standard-test-512-50-Town01-dense-42.json │ ├── stage-s5-standard-test-512-50-Town01-no-42.json │ ├── stage-s5-standard-test-512-50-Town01-regular-42.json │ ├── stage-s5-standard-test-512-50-Town02-dense-42.json │ ├── stage-s5-standard-test-512-50-Town02-no-42.json │ ├── stage-s5-standard-test-512-50-Town02-regular-42.json │ ├── stage-s5-standard-test-512-50-Town03-dense-42.json │ ├── stage-s5-standard-test-512-50-Town03-no-42.json │ ├── stage-s5-standard-test-512-50-Town03-regular-42.json │ ├── stage-s5-standard-test-512-50-Town04-dense-42.json │ ├── stage-s5-standard-test-512-50-Town04-no-42.json │ ├── stage-s5-standard-test-512-50-Town04-regular-42.json │ ├── stage-s5-standard-test-512-50-Town05-dense-42.json │ ├── stage-s5-standard-test-512-50-Town05-no-42.json │ ├── stage-s5-standard-test-512-50-Town05-regular-42.json │ ├── stage-s5-standard-test-512-50-Town06-dense-42.json │ ├── stage-s5-standard-test-512-50-Town06-no-42.json │ ├── stage-s5-standard-test-512-50-Town06-regular-42.json │ ├── stage-s5-standard-test-512-50-Town07-dense-42.json │ ├── stage-s5-standard-test-512-50-Town07-no-42.json │ ├── stage-s5-standard-test-512-50-Town07-regular-42.json │ ├── stage-s5-standard-test-512-50-Town10-dense-42.json │ ├── stage-s5-standard-test-512-50-Town10-no-42.json │ ├── stage-s5-standard-test-512-50-Town10-regular-42.json │ ├── stage-s5-standard-train-512-50-Town01-dense-42.json │ ├── stage-s5-standard-train-512-50-Town01-no-42.json │ ├── stage-s5-standard-train-512-50-Town01-regular-42.json │ ├── stage-s5-standard-train-512-50-Town02-dense-42.json │ ├── stage-s5-standard-train-512-50-Town02-no-42.json │ ├── stage-s5-standard-train-512-50-Town02-regular-42.json │ ├── stage-s5-standard-train-512-50-Town03-dense-42.json │ ├── stage-s5-standard-train-512-50-Town03-no-42.json │ ├── stage-s5-standard-train-512-50-Town03-regular-42.json │ ├── stage-s5-standard-train-512-50-Town04-dense-42.json │ ├── stage-s5-standard-train-512-50-Town04-no-42.json │ ├── stage-s5-standard-train-512-50-Town04-regular-42.json │ ├── stage-s5-standard-train-512-50-Town05-dense-42.json │ ├── stage-s5-standard-train-512-50-Town05-no-42.json │ ├── stage-s5-standard-train-512-50-Town05-regular-42.json │ ├── stage-s5-standard-train-512-50-Town06-dense-42.json │ ├── stage-s5-standard-train-512-50-Town06-no-42.json │ ├── stage-s5-standard-train-512-50-Town06-regular-42.json │ ├── stage-s5-standard-train-512-50-Town07-dense-42.json │ ├── stage-s5-standard-train-512-50-Town07-no-42.json │ ├── stage-s5-standard-train-512-50-Town07-regular-42.json │ ├── stage-s5-standard-train-512-50-Town10-dense-42.json │ ├── stage-s5-standard-train-512-50-Town10-no-42.json │ └── stage-s5-standard-train-512-50-Town10-regular-42.json ├── policy_net.data-00000-of-00002 ├── policy_net.data-00001-of-00002 ├── policy_net.index ├── value_net.data-00000-of-00002 ├── value_net.data-00001-of-00002 └── value_net.index └── stage-s5-untrained ├── checkpoint ├── config.json ├── dynamics_model.data-00000-of-00002 ├── dynamics_model.data-00001-of-00002 ├── dynamics_model.index ├── evaluation ├── stage-s5-untrained-test-512-50-Town01-dense-42.json ├── stage-s5-untrained-test-512-50-Town01-no-42.json ├── stage-s5-untrained-test-512-50-Town01-regular-42.json ├── stage-s5-untrained-test-512-50-Town02-dense-42.json ├── stage-s5-untrained-test-512-50-Town02-no-42.json ├── stage-s5-untrained-test-512-50-Town02-regular-42.json ├── stage-s5-untrained-test-512-50-Town03-dense-42.json ├── stage-s5-untrained-test-512-50-Town03-no-42.json ├── stage-s5-untrained-test-512-50-Town03-regular-42.json ├── stage-s5-untrained-test-512-50-Town04-dense-42.json ├── stage-s5-untrained-test-512-50-Town04-no-42.json ├── stage-s5-untrained-test-512-50-Town04-regular-42.json ├── stage-s5-untrained-test-512-50-Town05-dense-42.json ├── stage-s5-untrained-test-512-50-Town05-no-42.json ├── stage-s5-untrained-test-512-50-Town05-regular-42.json ├── stage-s5-untrained-test-512-50-Town06-dense-42.json ├── stage-s5-untrained-test-512-50-Town06-no-42.json ├── stage-s5-untrained-test-512-50-Town06-regular-42.json ├── stage-s5-untrained-test-512-50-Town07-dense-42.json ├── stage-s5-untrained-test-512-50-Town07-no-42.json ├── stage-s5-untrained-test-512-50-Town07-regular-42.json ├── stage-s5-untrained-test-512-50-Town10-dense-42.json ├── stage-s5-untrained-test-512-50-Town10-no-42.json ├── stage-s5-untrained-test-512-50-Town10-regular-42.json ├── stage-s5-untrained-train-512-50-Town01-dense-42.json ├── stage-s5-untrained-train-512-50-Town01-no-42.json ├── stage-s5-untrained-train-512-50-Town01-regular-42.json ├── stage-s5-untrained-train-512-50-Town02-dense-42.json ├── stage-s5-untrained-train-512-50-Town02-no-42.json ├── stage-s5-untrained-train-512-50-Town02-regular-42.json ├── stage-s5-untrained-train-512-50-Town03-dense-42.json ├── stage-s5-untrained-train-512-50-Town03-no-42.json ├── stage-s5-untrained-train-512-50-Town03-regular-42.json ├── stage-s5-untrained-train-512-50-Town04-dense-42.json ├── stage-s5-untrained-train-512-50-Town04-no-42.json ├── stage-s5-untrained-train-512-50-Town04-regular-42.json ├── stage-s5-untrained-train-512-50-Town05-dense-42.json ├── 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