├── .gitignore ├── .gitmodules ├── CITATIONS.bib ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── config ├── nuScenes.json ├── nuScenes_state_delta.json └── pedestrians.json ├── experiments ├── Plots.ipynb ├── figures │ └── .gitkeep ├── nuScenes │ ├── figures │ │ └── .gitkeep │ ├── full_per_agent_eval.py │ ├── full_uncorrelated_eval.py │ ├── models │ │ ├── lyft_mm_base_tpp-11_Sep_2022_18_56_49 │ │ │ ├── config.json │ │ │ └── model_registrar-1.pt │ │ ├── nusc_mm_base_tpp-11_Sep_2022_19_15_45 │ │ │ ├── config.json │ │ │ └── model_registrar-20.pt │ │ ├── nusc_mm_k0_tpp-12_Sep_2022_00_40_16 │ │ │ ├── config.json │ │ │ └── model_registrar-20.pt │ │ └── nusc_mm_sec4_tpp-13_Sep_2022_11_06_01 │ │ │ ├── config.json │ │ │ └── model_registrar-20.pt │ ├── nuScenes-Lyft Qualitative.ipynb │ ├── nuScenes-Lyft Quantitative.ipynb │ ├── preprocess_challenge_splits.py │ └── results │ │ └── .gitkeep └── pedestrians │ ├── Peds Adaptive.ipynb │ ├── kf_models │ ├── eth_1mode_adaptive_tpp-20_Jan_2023_13_47_16 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── eth_1mode_base_tpp-20_Jan_2023_17_38_09 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── eth_1mode_k0_tpp-20_Jan_2023_10_11_13 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── hotel_1mode_adaptive_tpp-20_Jan_2023_06_43_34 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── hotel_1mode_base_tpp-20_Jan_2023_20_23_50 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── hotel_1mode_k0_tpp-20_Jan_2023_06_14_50 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── univ_1mode_adaptive_tpp-20_Jan_2023_06_59_42 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── univ_1mode_base_tpp-20_Jan_2023_12_09_20 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── univ_1mode_k0_tpp-20_Jan_2023_14_08_36 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── zara1_1mode_adaptive_tpp-20_Jan_2023_20_21_11 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── zara1_1mode_base_tpp-22_Jan_2023_18_15_58 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── zara1_1mode_k0_tpp-20_Jan_2023_17_47_50 │ │ ├── config.json │ │ └── model_registrar-4.pt │ ├── zara2_1mode_adaptive_tpp-20_Jan_2023_03_19_50 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── zara2_1mode_base_tpp-20_Jan_2023_12_39_23 │ │ ├── config.json │ │ └── model_registrar-5.pt │ └── zara2_1mode_k0_tpp-20_Jan_2023_15_20_26 │ │ ├── config.json │ │ └── model_registrar-5.pt │ ├── plots │ └── .gitkeep │ ├── raw │ ├── biwi_eth.txt │ ├── biwi_hotel.txt │ ├── crowds_zara01.txt │ ├── crowds_zara02.txt │ ├── crowds_zara03.txt │ ├── students001.txt │ ├── students003.txt │ └── uni_examples.txt │ ├── results │ └── .gitkeep │ └── train_1mode_models.sh ├── pyproject.toml ├── requirements.txt ├── setup.cfg ├── src └── trajectron │ ├── __init__.py │ ├── argument_parser.py │ ├── environment │ ├── __init__.py │ ├── data_structures.py │ ├── data_utils.py │ ├── environment.py │ ├── map.py │ ├── node.py │ ├── node_type.py │ ├── scene.py │ └── scene_graph.py │ ├── evaluation │ ├── __init__.py │ └── evaluation.py │ ├── model │ ├── __init__.py │ ├── components │ │ ├── __init__.py │ │ ├── bayesian_last_layer.py │ │ ├── discrete_latent.py │ │ ├── gmm2d.py │ │ ├── graph_attention.py │ │ └── map_encoder.py │ ├── dataset │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── homography_warper.py │ │ └── preprocessing.py │ ├── dynamics │ │ ├── __init__.py │ │ ├── dynamic.py │ │ ├── linear.py │ │ ├── single_integrator.py │ │ ├── state_delta.py │ │ └── unicycle.py │ ├── mgcvae.py │ ├── model_registrar.py │ ├── model_utils.py │ ├── online │ │ ├── __init__.py │ │ ├── online_mgcvae.py │ │ └── online_trajectron.py │ └── trajectron.py │ ├── utils │ ├── __init__.py │ ├── comm.py │ ├── distribution_utils.py │ ├── matrix_utils.py │ ├── os_utils.py │ └── trajectory_utils.py │ └── visualization │ ├── __init__.py │ ├── visualization.py │ └── visualization_utils.py ├── tests ├── __init__.py ├── test_cholesky.py ├── 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