├── AIRL-CARLA-0.8.x ├── AIRL │ ├── discriminator.py │ ├── net_utils.py │ ├── policy.py │ ├── trpo.py │ └── value_net.py ├── Env │ ├── Town01.png │ ├── Town02.png │ └── carla_env.py ├── ExpData │ └── dataset_iters.py ├── ImageParser │ ├── image_network.py │ └── image_parser.py ├── Utils │ ├── OU.py │ ├── evaluate.py │ ├── modify.py │ ├── recording.py │ ├── replay_buffer.py │ ├── statistics.py │ └── training_tools.py ├── carla │ ├── __init__.py │ ├── agent │ │ ├── __init__.py │ │ ├── agent.py │ │ └── forward_agent.py │ ├── carla_server_pb2.py │ ├── client.py │ ├── driving_benchmark │ │ ├── __init__.py │ │ ├── driving_benchmark.py │ │ ├── experiment.py │ │ ├── experiment_suites │ │ │ ├── __init__.py │ │ │ ├── basic_experiment_suite.py │ │ │ ├── corl_2017.py │ │ │ └── experiment_suite.py │ │ ├── metrics.py │ │ ├── recording.py │ │ └── results_printer.py │ ├── image_converter.py │ ├── planner │ │ ├── Town01.png │ │ ├── Town01.txt │ │ ├── Town01Central.png │ │ ├── Town01Lanes.png │ │ ├── Town02.png │ │ ├── Town02.txt │ │ ├── Town02Big.png │ │ ├── Town02Central.png │ │ ├── Town02Lanes.png │ │ ├── __init__.py │ │ ├── astar.py │ │ ├── city_track.py │ │ ├── converter.py │ │ ├── graph.py │ │ ├── grid.py │ │ ├── map.py │ │ └── planner.py │ ├── sensor.py │ ├── settings.py │ ├── tcp.py │ ├── transform.py │ └── util.py ├── learner.py └── main.py ├── BC97 ├── README.md ├── configer.py ├── data_collector.py ├── dataset │ └── README.md ├── env │ ├── PID │ │ ├── README.md │ │ ├── agent │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ ├── agent.cpython-35.pyc │ │ │ │ ├── basic_agent.cpython-35.pyc │ │ │ │ └── utils.cpython-35.pyc │ │ │ ├── agent.py │ │ │ ├── basic_agent.py │ │ │ └── utils.py │ │ ├── controller │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ └── controller.cpython-35.pyc │ │ │ └── controller.py │ │ ├── planner │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ ├── global_route_planner.cpython-35.pyc │ │ │ │ ├── global_route_planner_dao.cpython-35.pyc │ │ │ │ └── local_planner.cpython-35.pyc │ │ │ ├── global_route_planner.py │ │ │ ├── global_route_planner_dao.py │ │ │ └── local_planner.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── misc.cpython-35.pyc │ │ │ └── misc.py │ ├── README.md │ ├── carla97_env.py │ ├── ego_car.py │ ├── plot_waypoint.py │ ├── sensors.py │ ├── surroundings.py │ ├── utils.py │ └── waypoint.csv ├── evaluate_model.py ├── evaluation │ ├── 999_Later_NN_Longi_NN_0418_1447.csv │ ├── Later_PID_Longi_NN_0418_1227.csv │ └── Later_PID_Longi_PID_0418_1207.csv ├── learner.py ├── main.py ├── nn │ ├── actor.py │ ├── critic.py │ └── preprocessor.py ├── tools │ ├── buffer.py │ ├── logger.py │ └── others.py └── trainer │ ├── bc_trainer.py │ ├── rl_trainer.py │ └── tester.py ├── GAIL97 ├── README.md ├── configer.py ├── convert_raw_data.py ├── data_collector.py ├── dataset │ └── README.md ├── env │ ├── PID │ │ ├── README.md │ │ ├── agent │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ ├── agent.cpython-35.pyc │ │ │ │ ├── basic_agent.cpython-35.pyc │ │ │ │ └── utils.cpython-35.pyc │ │ │ ├── agent.py │ │ │ ├── basic_agent.py │ │ │ └── utils.py │ │ ├── controller │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ └── controller.cpython-35.pyc │ │ │ └── controller.py │ │ ├── planner │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ ├── global_route_planner.cpython-35.pyc │ │ │ │ ├── global_route_planner_dao.cpython-35.pyc │ │ │ │ └── local_planner.cpython-35.pyc │ │ │ ├── global_route_planner.py │ │ │ ├── global_route_planner_dao.py │ │ │ └── local_planner.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── misc.cpython-35.pyc │ │ │ └── misc.py │ ├── README.md │ ├── carla97_env.py │ ├── ego_car.py │ ├── plot_waypoint.py │ ├── sensors.py │ ├── surroundings.py │ ├── utils.py │ └── waypoint.csv ├── evaluate_model.py ├── learner.py ├── main.py ├── nn │ ├── actor.py │ ├── critic.py │ ├── discriminator.py │ └── preprocessor.py ├── tools │ ├── buffer.py │ ├── logger.py │ └── others.py └── trainer │ ├── bc_trainer.py │ ├── gail_trainer.py │ ├── rl_trainer.py │ └── tester.py ├── GAIL97_old ├── README.md ├── config.py ├── dataset │ ├── dataset_iters.py │ └── image_augmentation.py ├── env │ ├── agents │ │ ├── navigation │ │ │ ├── __init__.py │ │ │ ├── agent.py │ │ │ ├── basic_agent.py │ │ │ ├── controller.py │ │ │ ├── global_route_planner.py │ │ │ ├── global_route_planner_dao.py │ │ │ ├── local_planner.py │ │ │ └── roaming_agent.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ └── misc.py │ ├── carla97_env.py │ ├── ego_car.py │ ├── functions.py │ ├── plot_waypoint.py │ ├── surroundings.py │ └── waypoint.csv ├── learner.py ├── main.py ├── nn │ ├── ActorNetwork.py │ ├── CriticNetwork.py │ ├── DiscriminatorNetwork.py │ ├── image_agent.py │ ├── image_network.py │ └── layers.py └── tools │ ├── logger.py │ ├── others.py │ └── replaybuffer.py ├── README.md ├── auto_pilot_data_collector ├── carla97_env.py ├── config.py ├── dataset_iters.py ├── ego_car.py ├── plot_waypoint.py ├── surroundings.py ├── test_dataset.py ├── utils.py └── waypoint.csv ├── carla_0.9.7_env ├── .vscode │ └── settings.json ├── __pycache__ │ ├── config.cpython-35.pyc │ ├── ego_car.cpython-35.pyc │ └── surroundings.cpython-35.pyc ├── agents │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-35.pyc │ ├── navigation │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ ├── controller.cpython-35.pyc │ │ │ ├── global_route_planner.cpython-35.pyc │ │ │ ├── global_route_planner_dao.cpython-35.pyc │ │ │ └── local_planner.cpython-35.pyc │ │ ├── agent.py │ │ ├── basic_agent.py │ │ ├── controller.py │ │ ├── global_route_planner.py │ │ ├── global_route_planner_dao.py │ │ ├── local_planner.py │ │ └── roaming_agent.py │ └── tools │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ └── misc.cpython-35.pyc │ │ └── misc.py ├── carla97_env.py ├── config.py ├── ego_car.py ├── plot_waypoint.py ├── surroundings.py └── waypoint.csv ├── carla_PID_data_collector_0.9.7 ├── .idea │ ├── carla_PID_data_collector_0.9.7.iml │ ├── inspectionProfiles │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ ├── rSettings.xml │ └── workspace.xml ├── __pycache__ │ ├── config.cpython-35.pyc │ ├── ego_car.cpython-35.pyc │ ├── surroundings.cpython-35.pyc │ └── utils.cpython-35.pyc ├── agent │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ ├── agent.cpython-35.pyc │ │ ├── basic_agent.cpython-35.pyc │ │ └── utils.cpython-35.pyc │ ├── agent.py │ ├── basic_agent.py │ └── utils.py ├── carla97_env.py ├── config.py ├── controller │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ └── controller.cpython-35.pyc │ └── controller.py ├── dataset_iters.py ├── ego_car.py ├── planner │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ ├── global_route_planner.cpython-35.pyc │ │ ├── global_route_planner_dao.cpython-35.pyc │ │ └── local_planner.cpython-35.pyc │ ├── global_route_planner.py │ ├── global_route_planner_dao.py │ └── local_planner.py ├── plot_waypoint.py ├── surroundings.py ├── test_dataset.py ├── tools │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ └── misc.cpython-35.pyc │ └── misc.py ├── utils.py └── waypoint.csv ├── data_collector ├── intersection_task │ ├── .idea │ │ ├── carla_PID_data_collector_0.9.7.iml │ │ ├── inspectionProfiles │ │ │ └── profiles_settings.xml │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── rSettings.xml │ │ └── workspace.xml │ ├── .vscode │ │ └── settings.json │ ├── ExpertData │ │ └── scene_0.h5 │ ├── __pycache__ │ │ ├── config.cpython-35.pyc │ │ ├── ego_car.cpython-35.pyc │ │ ├── surroundings.cpython-35.pyc │ │ └── utils.cpython-35.pyc │ ├── agent │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ ├── agent.cpython-35.pyc │ │ │ ├── basic_agent.cpython-35.pyc │ │ │ └── utils.cpython-35.pyc │ │ ├── agent.py │ │ ├── basic_agent.py │ │ ├── navigation │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ ├── controller.cpython-35.pyc │ │ │ │ ├── global_route_planner.cpython-35.pyc │ │ │ │ ├── global_route_planner_dao.cpython-35.pyc │ │ │ │ └── local_planner.cpython-35.pyc │ │ │ ├── agent.py │ │ │ ├── basic_agent.py │ │ │ ├── controller.py │ │ │ ├── global_route_planner.py │ │ │ ├── global_route_planner_dao.py │ │ │ ├── local_planner.py │ │ │ └── roaming_agent.py │ │ ├── tools │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-35.pyc │ │ │ │ └── misc.cpython-35.pyc │ │ │ └── misc.py │ │ └── utils.py │ ├── carla97_env.py │ ├── config.py │ ├── controller │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── controller.cpython-35.pyc │ │ └── controller.py │ ├── ego_car.py │ ├── planner │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ ├── global_route_planner.cpython-35.pyc │ │ │ ├── global_route_planner_dao.cpython-35.pyc │ │ │ └── local_planner.cpython-35.pyc │ │ ├── global_route_planner.py │ │ ├── global_route_planner_dao.py │ │ └── local_planner.py │ ├── plot_waypoint.py │ ├── surroundings.py │ ├── test_dataset.py │ ├── tools │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── misc.cpython-35.pyc │ │ └── misc.py │ ├── utils.py │ └── waypoint.csv └── navigation_task │ ├── __init__.py │ ├── agent │ ├── __init__.py │ ├── agent.py │ ├── basic_agent.py │ └── utils.py │ ├── config.py │ ├── controller │ ├── __init__.py │ └── controller.py │ ├── ego_car.py │ ├── env.py │ ├── planner │ ├── __init__.py │ ├── global_route_planner.py │ ├── global_route_planner_dao.py │ └── local_planner.py │ ├── surroundings.py │ ├── tools │ ├── __init__.py │ └── misc.py │ └── waypoint.csv └── intersection_data_collector ├── configer.py ├── data_collector.py ├── env ├── PID │ ├── README.md │ ├── agent │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ ├── agent.cpython-35.pyc │ │ │ ├── basic_agent.cpython-35.pyc │ │ │ └── utils.cpython-35.pyc │ │ ├── agent.py │ │ ├── basic_agent.py │ │ └── utils.py │ ├── controller │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── controller.cpython-35.pyc │ │ └── controller.py │ ├── planner │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ ├── global_route_planner.cpython-35.pyc │ │ │ ├── global_route_planner_dao.cpython-35.pyc │ │ │ └── local_planner.cpython-35.pyc │ │ ├── global_route_planner.py │ │ ├── global_route_planner_dao.py │ │ └── local_planner.py │ └── tools │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ 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