├── LICENSE ├── README.md ├── agents ├── __init__.py ├── local_planner │ ├── cubic_spline_planner.py │ └── frenet_optimal_trajectory.py ├── low_level_controller │ └── controller.py ├── reinforcement_learning │ ├── setup.py │ └── stable_baselines │ │ ├── __init__.py │ │ ├── a2c │ │ ├── __init__.py │ │ ├── a2c.py │ │ ├── run_atari.py │ │ └── utils.py │ │ ├── acer │ │ ├── __init__.py │ │ ├── acer_simple.py │ │ ├── buffer.py │ │ └── run_atari.py │ │ ├── acktr │ │ ├── __init__.py │ │ ├── acktr.py │ │ ├── kfac.py │ │ ├── kfac_utils.py │ │ └── run_atari.py │ │ ├── bench │ │ ├── __init__.py │ │ └── monitor.py │ │ ├── common │ │ ├── __init__.py │ │ ├── atari_wrappers.py │ │ ├── base_class.py │ │ ├── bit_flipping_env.py │ │ ├── callbacks.py │ │ ├── cg.py │ │ ├── cmd_util.py │ │ ├── console_util.py │ │ ├── dataset.py │ │ ├── distributions.py │ │ ├── env_checker.py │ │ ├── evaluation.py │ │ ├── identity_env.py │ │ ├── input.py │ │ ├── math_util.py │ │ ├── misc_util.py │ │ ├── mpi_adam.py │ │ ├── mpi_moments.py │ │ ├── mpi_running_mean_std.py │ │ ├── noise.py │ │ ├── policies.py │ │ ├── runners.py │ │ ├── running_mean_std.py │ │ ├── save_util.py │ │ ├── schedules.py │ │ ├── segment_tree.py │ │ ├── tf_util.py │ │ ├── tile_images.py │ │ └── vec_env │ │ │ ├── __init__.py │ │ │ ├── base_vec_env.py │ │ │ ├── dummy_vec_env.py │ │ │ ├── subproc_vec_env.py │ │ │ ├── util.py │ │ │ ├── vec_check_nan.py │ │ │ ├── vec_frame_stack.py │ │ │ ├── vec_normalize.py │ │ │ └── vec_video_recorder.py │ │ ├── ddpg │ │ ├── __init__.py │ │ ├── ddpg.py │ │ ├── main.py │ │ ├── noise.py │ │ └── policies.py │ │ ├── deepq │ │ ├── __init__.py │ │ ├── build_graph.py │ │ ├── dqn.py │ │ ├── experiments │ │ │ ├── __init__.py │ │ │ ├── custom_cartpole.py │ │ │ ├── enjoy_cartpole.py │ │ │ ├── enjoy_mountaincar.py │ │ │ ├── run_atari.py │ │ │ ├── train_cartpole.py │ │ │ └── train_mountaincar.py │ │ ├── policies.py │ │ └── replay_buffer.py │ │ ├── gail │ │ ├── __init__.py │ │ ├── adversary.py │ │ ├── dataset │ │ │ ├── __init__.py │ │ │ ├── dataset.py │ │ │ ├── expert_cartpole.npz │ │ │ ├── expert_pendulum.npz │ │ │ └── record_expert.py │ │ └── model.py │ │ ├── her │ │ ├── __init__.py │ │ ├── her.py │ │ ├── replay_buffer.py │ │ └── utils.py │ │ ├── logger.py │ │ ├── ppo1 │ │ ├── __init__.py │ │ ├── experiments │ │ │ └── train_cartpole.py │ │ ├── pposgd_simple.py │ │ ├── run_atari.py │ │ ├── run_mujoco.py │ │ └── run_robotics.py │ │ ├── ppo2 │ │ ├── __init__.py │ │ ├── ppo2.py │ │ ├── run_atari.py │ │ └── run_mujoco.py │ │ ├── py.typed │ │ ├── results_plotter.py │ │ ├── sac │ │ ├── __init__.py │ │ ├── policies.py │ │ └── sac.py │ │ ├── td3 │ │ ├── __init__.py │ │ ├── policies.py │ │ └── td3.py │ │ ├── trpo_mpi │ │ ├── __init__.py │ │ ├── run_atari.py │ │ ├── run_mujoco.py │ │ ├── trpo_mpi.py │ │ └── utils.py │ │ └── version.txt └── tools │ ├── __init__.py │ └── misc.py ├── carla_gym ├── __init__.py └── envs │ ├── __init__.py │ ├── carla_env_v1.py │ ├── carla_env_v2.py │ └── scenarios.json ├── case_1_agile_2d.gif ├── case_1_contRL_2d.gif ├── config.py ├── logs ├── agent_1 │ ├── config_ex1207.yaml │ ├── models │ │ └── best_122020.zip │ ├── monitor.csv │ └── reproduction_info.txt ├── agent_2 │ ├── 271.yaml │ ├── models │ │ └── best_84992.zip │ ├── monitor.csv │ └── reproduction_info.txt ├── agent_3 │ ├── 270.yaml │ ├── models │ │ └── best_115000.zip │ ├── monitor.csv │ └── reproduction_info.txt └── agent_4 │ ├── 262.yaml │ ├── models │ └── best_80000.zip │ ├── monitor.csv │ └── reproduction_info.txt ├── monitor_plot.py ├── requirements.txt ├── road_maps ├── global_route_town04.npy ├── road_map_town01.png ├── road_map_town02.png ├── road_map_town03.png └── road_map_town04.png ├── run.py └── tools ├── cfgs └── config.yaml ├── modules.py └── reward_shaping.py /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MajidMoghadam2006/RL-frenet-trajectory-planning-in-CARLA/HEAD/LICENSE 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