├── .github └── workflows │ └── release.yml ├── .gitignore ├── LICENSE ├── README.md ├── assets ├── benchmarks │ └── carnovel │ │ ├── AbnormalTurns0-v0.png │ │ ├── AbnormalTurns1-v0.png │ │ ├── AbnormalTurns2-v0.png │ │ ├── AbnormalTurns3-v0.png │ │ ├── AbnormalTurns4-v0.png │ │ ├── AbnormalTurns5-v0.png │ │ ├── AbnormalTurns6-v0.png │ │ ├── BusyTown0-v0.png │ │ ├── BusyTown1-v0.png │ │ ├── BusyTown10-v0.png │ │ ├── BusyTown2-v0.png │ │ ├── BusyTown3-v0.png │ │ ├── BusyTown4-v0.png │ │ ├── BusyTown5-v0.png │ │ ├── BusyTown6-v0.png │ │ ├── BusyTown7-v0.png │ │ ├── BusyTown8-v0.png │ │ ├── BusyTown9-v0.png │ │ ├── Hills0-v0.png │ │ ├── Hills1-v0.png │ │ ├── Hills2-v0.png │ │ ├── Hills3-v0.png │ │ ├── Roundabouts0-v0.png │ │ ├── Roundabouts1-v0.png │ │ ├── Roundabouts2-v0.png │ │ ├── Roundabouts3-v0.png │ │ └── Roundabouts4-v0.png ├── logos │ └── torch.png └── maps │ ├── Town01.png │ ├── Town02.png │ ├── Town03.png │ ├── Town04.png │ └── Town05.png ├── oatomobile ├── __init__.py ├── _metadata.py ├── baselines │ ├── README.md │ ├── __init__.py │ ├── base.py │ ├── rulebased │ │ ├── __init__.py │ │ ├── autopilot │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── agent.py │ │ │ └── run.py │ │ └── blind │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── agent.py │ │ │ └── run.py │ └── torch │ │ ├── __init__.py │ │ ├── cil │ │ ├── README.md │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── model.py │ │ └── train.py │ │ ├── dim │ │ ├── README.md │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── model.py │ │ └── train.py │ │ └── rip │ │ ├── README.md │ │ ├── __init__.py │ │ └── agent.py ├── benchmarks │ ├── __init__.py │ ├── carnovel │ │ ├── README.md │ │ ├── __init__.py │ │ ├── benchmark.py │ │ └── configs │ │ │ ├── AbnormalTurns0-v0.json │ │ │ ├── AbnormalTurns1-v0.json │ │ │ ├── AbnormalTurns2-v0.json │ │ │ ├── AbnormalTurns3-v0.json │ │ │ ├── AbnormalTurns4-v0.json │ │ │ ├── AbnormalTurns5-v0.json │ │ │ ├── AbnormalTurns6-v0.json │ │ │ ├── BusyTown0-v0.json │ │ │ ├── BusyTown1-v0.json │ │ │ ├── BusyTown10-v0.json │ │ │ ├── BusyTown2-v0.json │ │ │ ├── BusyTown3-v0.json │ │ │ ├── BusyTown4-v0.json │ │ │ ├── BusyTown5-v0.json │ │ │ ├── BusyTown6-v0.json │ │ │ ├── BusyTown7-v0.json │ │ │ ├── BusyTown8-v0.json │ │ │ ├── BusyTown9-v0.json │ │ │ ├── Hills0-v0.json │ │ │ ├── Hills1-v0.json │ │ │ ├── Hills2-v0.json │ │ │ ├── Hills3-v0.json │ │ │ ├── Roundabouts0-v0.json │ │ │ ├── Roundabouts1-v0.json │ │ │ ├── Roundabouts2-v0.json │ │ │ ├── Roundabouts3-v0.json │ │ │ └── Roundabouts4-v0.json │ └── corl2017 │ │ ├── __init__.py │ │ ├── benchmark.py │ │ └── configs │ │ ├── Town01_FullTown0-v0.json │ │ ├── Town01_FullTown1-v0.json │ │ ├── Town01_FullTown10-v0.json │ │ ├── Town01_FullTown11-v0.json │ │ ├── Town01_FullTown12-v0.json │ │ ├── Town01_FullTown13-v0.json │ │ ├── Town01_FullTown14-v0.json │ │ ├── Town01_FullTown15-v0.json │ │ ├── Town01_FullTown16-v0.json │ │ ├── Town01_FullTown17-v0.json │ │ ├── Town01_FullTown18-v0.json │ │ ├── Town01_FullTown19-v0.json │ │ ├── Town01_FullTown2-v0.json │ │ ├── Town01_FullTown20-v0.json │ │ ├── Town01_FullTown21-v0.json │ │ ├── Town01_FullTown22-v0.json │ │ ├── Town01_FullTown23-v0.json │ │ ├── Town01_FullTown24-v0.json │ │ ├── Town01_FullTown3-v0.json │ │ ├── Town01_FullTown4-v0.json │ │ ├── Town01_FullTown5-v0.json │ │ ├── Town01_FullTown6-v0.json │ │ ├── Town01_FullTown7-v0.json │ │ ├── Town01_FullTown8-v0.json │ │ ├── Town01_FullTown9-v0.json │ │ ├── Town01_Straight0-v0.json │ │ ├── Town01_Straight1-v0.json │ │ ├── Town01_Straight10-v0.json │ │ ├── Town01_Straight11-v0.json │ │ ├── Town01_Straight12-v0.json │ │ ├── Town01_Straight13-v0.json │ │ ├── Town01_Straight14-v0.json │ │ ├── Town01_Straight15-v0.json │ │ ├── Town01_Straight16-v0.json │ │ ├── Town01_Straight17-v0.json │ │ ├── Town01_Straight18-v0.json │ │ ├── Town01_Straight19-v0.json │ │ ├── Town01_Straight2-v0.json │ │ ├── Town01_Straight20-v0.json │ │ ├── Town01_Straight21-v0.json │ │ ├── Town01_Straight22-v0.json │ │ ├── Town01_Straight23-v0.json │ │ ├── Town01_Straight24-v0.json │ │ ├── Town01_Straight3-v0.json │ │ ├── Town01_Straight4-v0.json │ │ ├── Town01_Straight5-v0.json │ │ ├── Town01_Straight6-v0.json │ │ ├── Town01_Straight7-v0.json │ │ ├── Town01_Straight8-v0.json │ │ ├── Town01_Straight9-v0.json │ │ ├── Town01_Turn0-v0.json │ │ ├── Town01_Turn1-v0.json │ │ ├── Town01_Turn10-v0.json │ │ ├── Town01_Turn11-v0.json │ │ ├── Town01_Turn12-v0.json │ │ ├── Town01_Turn13-v0.json │ │ ├── Town01_Turn14-v0.json │ │ ├── Town01_Turn15-v0.json │ │ ├── Town01_Turn16-v0.json │ │ ├── Town01_Turn17-v0.json │ │ ├── Town01_Turn18-v0.json │ │ ├── Town01_Turn19-v0.json │ │ ├── Town01_Turn2-v0.json │ │ ├── Town01_Turn20-v0.json │ │ ├── Town01_Turn21-v0.json │ │ ├── Town01_Turn22-v0.json │ │ ├── Town01_Turn23-v0.json │ │ ├── Town01_Turn24-v0.json │ │ ├── Town01_Turn3-v0.json │ │ ├── Town01_Turn4-v0.json │ │ ├── Town01_Turn5-v0.json │ │ ├── Town01_Turn6-v0.json │ │ ├── Town01_Turn7-v0.json │ │ ├── Town01_Turn8-v0.json │ │ ├── Town01_Turn9-v0.json │ │ ├── Town02_FullTown0-v0.json │ │ ├── Town02_FullTown1-v0.json │ │ ├── Town02_FullTown10-v0.json │ │ ├── Town02_FullTown11-v0.json │ │ ├── Town02_FullTown12-v0.json │ │ ├── Town02_FullTown13-v0.json │ │ ├── Town02_FullTown14-v0.json │ │ ├── Town02_FullTown15-v0.json │ │ ├── Town02_FullTown16-v0.json │ │ ├── Town02_FullTown17-v0.json │ │ ├── Town02_FullTown18-v0.json │ │ ├── Town02_FullTown19-v0.json │ │ ├── Town02_FullTown2-v0.json │ │ ├── Town02_FullTown20-v0.json │ │ ├── Town02_FullTown21-v0.json │ │ ├── Town02_FullTown22-v0.json │ │ ├── Town02_FullTown23-v0.json │ │ ├── Town02_FullTown24-v0.json │ │ ├── Town02_FullTown3-v0.json │ │ ├── Town02_FullTown4-v0.json │ │ ├── Town02_FullTown5-v0.json │ │ ├── Town02_FullTown6-v0.json │ │ ├── Town02_FullTown7-v0.json │ │ ├── Town02_FullTown8-v0.json │ │ ├── Town02_FullTown9-v0.json │ │ ├── Town02_Straight0-v0.json │ │ ├── Town02_Straight1-v0.json │ │ ├── Town02_Straight10-v0.json │ │ ├── Town02_Straight11-v0.json │ │ ├── Town02_Straight12-v0.json │ │ ├── Town02_Straight13-v0.json │ │ ├── Town02_Straight14-v0.json │ │ ├── Town02_Straight15-v0.json │ │ ├── Town02_Straight16-v0.json │ │ ├── Town02_Straight17-v0.json │ │ ├── Town02_Straight18-v0.json │ │ ├── Town02_Straight19-v0.json │ │ ├── Town02_Straight2-v0.json │ │ ├── Town02_Straight20-v0.json │ │ ├── Town02_Straight21-v0.json │ │ ├── Town02_Straight22-v0.json │ │ ├── Town02_Straight23-v0.json │ │ ├── Town02_Straight24-v0.json │ │ ├── Town02_Straight3-v0.json │ │ ├── Town02_Straight4-v0.json │ │ ├── Town02_Straight5-v0.json │ │ ├── Town02_Straight6-v0.json │ │ ├── Town02_Straight7-v0.json │ │ ├── Town02_Straight8-v0.json │ │ ├── Town02_Straight9-v0.json │ │ ├── Town02_Turn0-v0.json │ │ ├── Town02_Turn1-v0.json │ │ ├── Town02_Turn10-v0.json │ │ ├── Town02_Turn11-v0.json │ │ ├── Town02_Turn12-v0.json │ │ ├── Town02_Turn13-v0.json │ │ ├── Town02_Turn14-v0.json │ │ ├── Town02_Turn15-v0.json │ │ ├── Town02_Turn16-v0.json │ │ ├── Town02_Turn17-v0.json │ │ ├── Town02_Turn18-v0.json │ │ ├── Town02_Turn19-v0.json │ │ ├── Town02_Turn2-v0.json │ │ ├── Town02_Turn20-v0.json │ │ ├── Town02_Turn21-v0.json │ │ ├── Town02_Turn22-v0.json │ │ ├── Town02_Turn23-v0.json │ │ ├── Town02_Turn24-v0.json │ │ ├── Town02_Turn3-v0.json │ │ ├── Town02_Turn4-v0.json │ │ ├── Town02_Turn5-v0.json │ │ ├── Town02_Turn6-v0.json │ │ ├── Town02_Turn7-v0.json │ │ ├── Town02_Turn8-v0.json │ │ └── Town02_Turn9-v0.json ├── core │ ├── __init__.py │ ├── agent.py │ ├── benchmark.py │ ├── dataset.py │ ├── loop.py │ ├── registry.py │ ├── rl.py │ └── simulator.py ├── datasets │ ├── __init__.py │ └── carla.py ├── envs │ ├── __init__.py │ └── carla.py ├── simulators │ ├── __init__.py │ └── carla │ │ ├── __init__.py │ │ ├── defaults.py │ │ └── simulator.py ├── tf │ ├── __init__.py │ ├── loggers.py │ ├── types.py │ └── utils.py ├── torch │ ├── __init__.py │ ├── loggers.py │ ├── networks │ │ ├── __init__.py │ │ ├── mlp.py │ │ ├── perception.py │ │ 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