├── .gitignore ├── .vscode └── launch.json ├── CITATION.cff ├── LICENSE.txt ├── README.md ├── __init__.py ├── config └── diffstack_default.json ├── diffstack ├── __init__.py ├── argument_parser.py ├── closed_loop_eval.py ├── data │ ├── __init__.py │ ├── agent_batch_extras.py │ ├── cached_nusc_as_trajdata.py │ ├── scene_batch_extras.py │ ├── trajdata_interface.py │ └── trajdata_lanes.py ├── modules │ ├── __init__.py │ ├── cost_functions │ │ ├── __init__.py │ │ ├── cost_functions.py │ │ ├── cost_selector.py │ │ └── linear_base_cost.py │ ├── diffstack.py │ ├── dynamics_functions.py │ ├── module.py │ ├── planners │ │ ├── __init__.py │ │ ├── fan_mpc_planner.py │ │ ├── fan_planner.py │ │ ├── fan_planner_utils.py │ │ └── mpc_utils │ │ │ ├── LICENSE.mit │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── lqr_step_refactored.py │ │ │ └── trajcost_mpc.py │ └── predictors │ │ ├── __init__.py │ │ ├── constvel_predictor.py │ │ ├── trajectron_predictor.py │ │ └── trajectron_utils │ │ ├── LICENSE │ │ ├── README.md │ │ ├── environment.py │ │ ├── environment │ │ ├── __init__.py │ │ ├── data_structures.py │ │ ├── data_utils.py │ │ ├── environment.py │ │ ├── map.py │ │ ├── node.py │ │ ├── node_type.py │ │ ├── scene.py │ │ └── scene_graph.py │ │ ├── model │ │ ├── __init__.py │ │ ├── components │ │ │ ├── __init__.py │ │ │ ├── additive_attention.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 │ │ │ └── unicycle.py │ │ ├── mgcvae.py │ │ ├── model_registrar.py │ │ ├── model_utils.py │ │ └── online │ │ │ ├── __init__.py │ │ │ ├── online_mgcvae.py │ │ │ └── online_trajectron.py │ │ ├── node.py │ │ ├── node_type.py │ │ └── trajectron │ │ ├── __init__.py │ │ └── trajectron.py ├── train.py └── utils │ ├── __init__.py │ ├── cleanup_cached_data.py │ ├── cleanup_checkpoint.py │ ├── model_registrar.py │ ├── pred_utils.py │ ├── utils.py │ └── visualization.py ├── diffstack_modules.png ├── pyproject.toml ├── requirements.txt └── setup.cfg /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/diffstack/HEAD/.gitignore -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/diffstack/HEAD/.vscode/launch.json -------------------------------------------------------------------------------- /CITATION.cff: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/diffstack/HEAD/CITATION.cff -------------------------------------------------------------------------------- /LICENSE.txt: 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