├── .flake8 ├── .github └── workflows │ ├── release_on_merge.yml │ └── squash_for_release.yml ├── .gitignore ├── .isort.cfg ├── .pre-commit-config.yaml ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── THIRD_PARTY_LICENSES ├── assets ├── e2e.png └── gtrs.png ├── docs ├── agents.md ├── cache.md ├── gtrs_inference.md ├── gtrs_simulation.md ├── gtrs_training.md ├── install.md ├── metrics.md ├── splits.md ├── submission.md └── traffic_agents.md ├── download ├── download_maps.sh ├── download_mini.sh ├── download_navhard_two_stage.sh ├── download_navtrain_aws.sh ├── download_navtrain_hf.sh ├── download_private_test_hard_two_stage.sh ├── download_test.sh ├── download_trainval.sh └── download_warmup_two_stage.sh ├── environment.yml ├── navsim ├── __init__.py ├── agents │ ├── __init__.py │ ├── abstract_agent.py │ ├── backbones │ │ └── vov.py │ ├── constant_velocity_agent.py │ ├── dp │ │ ├── dp_agent.py │ │ ├── dp_config.py │ │ └── dp_model.py │ ├── ego_status_mlp_agent.py │ ├── gtrs_aug │ │ ├── aug_meta_arch.py │ │ ├── data │ │ │ ├── collate.py │ │ │ ├── masking.py │ │ │ └── transforms.py │ │ ├── gtrs_aug_agent.py │ │ ├── hydra_backbone.py │ │ ├── hydra_config_aug.py │ │ ├── hydra_features_aug.py │ │ ├── hydra_loss_fn_aug.py │ │ ├── hydra_model.py │ │ ├── layers │ │ │ ├── __init__.py │ │ │ ├── attention.py │ │ │ ├── block.py │ │ │ ├── dino_head.py │ │ │ ├── drop_path.py │ │ │ ├── layer_scale.py │ │ │ ├── mlp.py │ │ │ ├── patch_embed.py │ │ │ └── swiglu_ffn.py │ │ ├── loss │ │ │ ├── __init__.py │ │ │ ├── dino_clstoken_loss.py │ │ │ ├── ibot_patch_loss.py │ │ │ └── koleo_loss.py │ │ └── utils │ │ │ ├── distributed.py │ │ │ ├── fsdp.py │ │ │ └── util.py │ ├── gtrs_dense │ │ ├── gtrs_agent.py │ │ ├── hydra_backbone.py │ │ ├── hydra_backbone_bev.py │ │ ├── hydra_config.py │ │ ├── hydra_features.py │ │ └── hydra_model.py │ ├── human_agent.py │ ├── tools │ │ ├── gen_vocab_score.py │ │ ├── merge_subsets.py │ │ └── split_yamls.py │ ├── transfuser │ │ ├── transfuser_agent.py │ │ ├── transfuser_backbone.py │ │ ├── transfuser_callback.py │ │ ├── transfuser_config.py │ │ ├── transfuser_features.py │ │ ├── transfuser_loss.py │ │ └── transfuser_model.py │ └── utils │ │ ├── attn.py │ │ ├── layers │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── block.py │ │ ├── dino_head.py │ │ ├── drop_path.py │ │ ├── layer_scale.py │ │ ├── mlp.py │ │ ├── patch_embed.py │ │ └── swiglu_ffn.py │ │ ├── nerf.py │ │ └── positional_encoding.py ├── common │ ├── __init__.py │ ├── dataclasses.py │ ├── dataloader.py │ ├── dataloader_private.py │ └── enums.py ├── evaluate │ ├── __init__.py │ └── pdm_score.py ├── planning │ ├── __init__.py │ ├── metric_caching │ │ ├── __init__.py │ │ ├── caching.py │ │ ├── metric_cache.py │ │ ├── metric_cache_processor.py │ │ └── metric_caching_utils.py │ ├── scenario_builder │ │ ├── __init__.py │ │ ├── navsim_scenario.py │ │ └── navsim_scenario_utils.py │ ├── script │ │ ├── __init__.py │ │ ├── builders │ │ │ ├── __init__.py │ │ │ ├── observation_builder.py │ │ │ ├── planner_builder.py │ │ │ ├── simulation_builder.py │ │ │ └── worker_pool_builder.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ ├── common │ │ │ │ ├── __init__.py │ │ │ │ ├── agent │ │ │ │ │ ├── constant_velocity_agent.yaml │ │ │ │ │ ├── ego_status_mlp_agent.yaml │ │ │ │ │ ├── gtrs_aug_vov.yaml │ │ │ │ │ ├── gtrs_dense_vov.yaml │ │ │ │ │ ├── gtrs_diffusion_policy.yaml │ │ │ │ │ ├── human_agent.yaml │ │ │ │ │ ├── hydra_mdp_vov.yaml │ │ │ │ │ └── transfuser_agent.yaml │ │ │ │ ├── default_common.yaml │ │ │ │ ├── default_dataset_paths.yaml │ │ │ │ ├── default_evaluation.yaml │ │ │ │ ├── traffic_agents_policy │ │ │ │ │ ├── constant_velocity_traffic_agents.yaml │ │ │ │ │ ├── log_replay_traffic_agents.yaml │ │ │ │ │ └── navsim_IDM_traffic_agents.yaml │ │ │ │ ├── train_test_split │ │ │ │ │ ├── mini.yaml │ │ │ │ │ ├── navhard_two_stage.yaml │ │ │ │ │ ├── navmini.yaml │ │ │ │ │ ├── navsafe_two_stage.yaml │ │ │ │ │ ├── navtest.yaml │ │ │ │ │ ├── navtest_two_stage.yaml │ │ │ │ │ ├── navtiny.yaml │ │ │ │ │ ├── navtrain.yaml │ │ │ │ │ ├── private_test_hard_two_stage.yaml │ │ │ │ │ ├── scene_filter │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── all_scenes.yaml │ │ │ │ │ │ ├── competition_private_tokens.yaml │ │ │ │ │ │ ├── navhard_two_stage.yaml │ │ │ │ │ │ ├── navmini.yaml │ │ │ │ │ │ ├── navsafe_two_stage.yaml │ │ │ │ │ │ ├── navtest.yaml │ │ │ │ │ │ ├── navtest_two_stage.yaml │ │ │ │ │ │ ├── navtiny.yaml │ │ │ │ │ │ ├── navtrain.yaml │ │ │ │ │ │ ├── private_test_hard_two_stage.yaml │ │ │ │ │ │ ├── warmup_navsafe_two_stage_extended.yaml │ │ │ │ │ │ └── warmup_two_stage.yaml │ │ │ │ │ ├── test.yaml │ │ │ │ │ ├── trainval.yaml │ │ │ │ │ ├── warmup_navsafe_two_stage_extended.yaml │ │ │ │ │ └── warmup_two_stage.yaml │ │ │ │ └── worker │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── ray_distributed.yaml │ │ │ │ │ ├── ray_distributed_no_torch.yaml │ │ │ │ │ ├── sequential.yaml │ │ │ │ │ └── single_machine_thread_pool.yaml │ │ │ ├── metric_caching │ │ │ │ ├── __init__.py │ │ │ │ └── default_metric_caching.yaml │ │ │ ├── pdm_scoring │ │ │ │ ├── __init__.py │ │ │ │ ├── ddp.yaml │ │ │ │ ├── default_run_create_submission_pickle.yaml │ │ │ │ ├── default_run_merge_submission_pickles.yaml │ │ │ │ ├── default_run_pdm_score.yaml │ │ │ │ ├── default_run_pdm_score_from_submission.yaml │ │ │ │ ├── default_run_pdm_score_gpu.yaml │ │ │ │ └── scorer │ │ │ │ │ ├── pdm_and_traffic_scorer.yaml │ │ │ │ │ └── pdm_scorer.yaml │ │ │ └── training │ │ │ │ ├── __init__.py │ │ │ │ ├── competition_train_val_test_log_split.yaml │ │ │ │ ├── competition_training.yaml │ │ │ │ ├── default_train_val_test_log_split.yaml │ │ │ │ ├── default_training.yaml │ │ │ │ ├── tiny_train_val.yaml │ │ │ │ └── tiny_training.yaml │ │ ├── debug_ep.py │ │ ├── run_create_submission_pickle.py │ │ ├── run_create_submission_pickle_warmup.py │ │ ├── run_dataset_caching.py │ │ ├── run_metric_caching.py │ │ ├── run_pdm_score.py │ │ ├── run_pdm_score_from_submission.py │ │ ├── run_pdm_score_gpu_v2.py │ │ ├── run_pdm_score_gpu_v2_aug.py │ │ ├── run_pdm_score_one_stage.py │ │ ├── run_training_aug.py │ │ ├── run_training_dense.py │ │ └── utils.py │ ├── simulation │ │ ├── __init__.py │ │ ├── observation │ │ │ ├── __init__.py │ │ │ ├── navsim_idm │ │ │ │ ├── __init__.py │ │ │ │ ├── navsim_idm_agent_manager.py │ │ │ │ └── navsim_idm_agents_builder.py │ │ │ └── navsim_idm_agents.py │ │ └── planner │ │ │ ├── __init__.py │ │ │ └── pdm_planner │ │ │ ├── __init__.py │ │ │ ├── abstract_pdm_closed_planner.py │ │ │ ├── abstract_pdm_planner.py │ │ │ ├── observation │ │ │ ├── __init__.py │ │ │ ├── pdm_object_manager.py │ │ │ ├── pdm_observation.py │ │ │ └── pdm_occupancy_map.py │ │ │ ├── pdm_closed_planner.py │ │ │ ├── proposal │ │ │ ├── __init__.py │ │ │ ├── batch_idm_policy.py │ │ │ ├── pdm_generator.py │ │ │ └── pdm_proposal.py │ │ │ ├── scoring │ │ │ ├── __init__.py │ │ │ ├── pdm_and_traffic_scorer.py │ │ │ ├── pdm_comfort_metrics.py │ │ │ ├── pdm_scorer.py │ │ │ ├── pdm_scorer_utils.py │ │ │ └── scene_aggregator.py │ │ │ ├── simulation │ │ │ ├── __init__.py │ │ │ ├── batch_kinematic_bicycle.py │ │ │ ├── batch_lqr.py │ │ │ ├── batch_lqr_utils.py │ │ │ └── pdm_simulator.py │ │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── graph_search │ │ │ ├── __init__.py │ │ │ ├── bfs_roadblock.py │ │ │ └── dijkstra.py │ │ │ ├── pdm_array_representation.py │ │ │ ├── pdm_emergency_brake.py │ │ │ ├── pdm_enums.py │ │ │ ├── pdm_geometry_utils.py │ │ │ ├── pdm_path.py │ │ │ └── route_utils.py │ ├── training │ │ ├── __init__.py │ │ ├── abstract_feature_target_builder.py │ │ ├── agent_lightning_module.py │ │ ├── agent_lightning_module_aug.py │ │ ├── callbacks │ │ │ └── time_logging_callback.py │ │ ├── dataset.py │ │ └── dataset_aug.py │ └── utils │ │ └── multithreading │ │ ├── __init__.py │ │ └── worker_ray_no_torch.py ├── traffic_agents_policies │ ├── __init__.py │ ├── abstract_traffic_agents_policy.py │ ├── constant_velocity_traffic_agents.py │ ├── log_replay_traffic_agents.py │ └── navsim_IDM_traffic_agents.py └── visualization │ ├── __init__.py │ ├── bev.py │ ├── camera.py │ ├── config.py │ ├── lidar.py │ └── plots.py ├── requirements.txt ├── scripts ├── evaluation │ ├── run_cv_pdm_score_evaluation.sh │ ├── run_ego_mlp_agent_pdm_score_evaluation.sh │ ├── run_human_agent_pdm_score_evaluation.sh │ ├── run_ltf_pdm_score_evaluation.sh │ ├── run_metric_caching.sh │ └── run_transfuser_pdm_score_evaluation.sh ├── submission │ ├── run_cv_create_submission_pickle.sh │ └── run_cv_create_submission_pickle_warmup.sh └── training │ ├── run_ego_mlp_agent_training.sh │ └── run_transfuser_training.sh ├── setup.py ├── traj_final ├── 16384.npy └── 8192.npy └── tutorial └── tutorial_visualization.ipynb /.flake8: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/GTRS/HEAD/.flake8 -------------------------------------------------------------------------------- /.github/workflows/release_on_merge.yml: 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