├── .gitignore ├── LICENSE ├── README.md ├── configs ├── method │ ├── easychauffeur.yaml │ ├── encoder │ │ └── bert.yaml │ ├── latentdriver.yaml │ ├── planT.yaml │ └── world │ │ └── latent_world_model.yaml ├── simulate.yaml └── train.yaml ├── docs ├── ARvsLayers.png ├── ARvsTS.png ├── DATASET_PREPARATION.md ├── INSTALL.md ├── TRAIN_EVAL.md └── latentdriver.jpg ├── requirements.txt ├── scripts ├── collecting_training_data.sh ├── preprocess_data.sh └── set_env.sh ├── setup.py ├── simulate.py ├── simulator ├── actor.py ├── engines │ ├── base_simulator.py │ └── ltd_simulator.py ├── metric.py ├── observation.py ├── utils.py ├── waymo_base.py └── waymo_env.py ├── src ├── dataloader │ ├── dataset.py │ ├── normalizer.py │ └── waymax_scenloader.py ├── ops │ ├── crdp │ │ ├── benchmark.py │ │ ├── crdp.c │ │ ├── crdp.pyx │ │ └── setup.py │ └── sort_vertices │ │ ├── __pycache__ │ │ └── sort_vert.cpython-310.pyc │ │ ├── cuda_utils.h │ │ ├── setup.py │ │ ├── sort_vert.cpp │ │ ├── sort_vert.h │ │ ├── sort_vert.py │ │ ├── sort_vert_kernel.cu │ │ └── utils.h ├── policy │ ├── __init__.py │ ├── baseline │ │ ├── bc_baseline.py │ │ └── mlp.py │ ├── commons │ │ ├── enc │ │ │ ├── __init__.py │ │ │ └── bert.py │ │ ├── optimzier.py │ │ └── scheduler.py │ ├── easychauffeur │ │ ├── distributions.py │ │ └── easychauffeur_ppo.py │ └── latentdriver │ │ ├── gpt2_model.py │ │ ├── lantentdriver_model.py │ │ ├── loss │ │ ├── GMMloss.py │ │ └── KLloss.py │ │ ├── transformers │ │ ├── detr.py │ │ ├── mpa_decoder.py │ │ ├── multi_head_attention.py │ │ └── utils.py │ │ └── world │ │ ├── __init__.py │ │ └── latent_world_model.py ├── preprocess │ ├── identify_curve.py │ ├── preprocess_data.py │ ├── saving_training_data.py │ └── waymax_preprocess_utils.py └── utils │ ├── __init__.py │ ├── discretizer.py │ ├── init_default_jax.py │ ├── iou.py │ ├── utils.py │ └── viz.py ├── tools ├── check_tf_jax_torch.py ├── extract_pretrained_bert.py └── quick_check.py ├── train.py └── waymax ├── __init__.py ├── agents ├── __init__.py ├── actor_core.py ├── actor_core_test.py ├── agent_builder.py ├── constant_speed.py ├── constant_speed_test.py ├── expert.py ├── expert_test.py ├── sim_agent.py ├── sim_agent_test.py ├── waypoint_following_agent.py └── waypoint_following_agent_test.py ├── config.py ├── dataloader ├── __init__.py ├── dataloader_utils.py ├── dataloader_utils_test.py ├── womd_dataloader.py ├── womd_dataloader_test.py ├── womd_factories.py ├── womd_factories_internal.py ├── womd_factories_test.py └── womd_utils.py ├── datatypes ├── __init__.py ├── action.py ├── array.py ├── array_test.py ├── constant.py ├── object_state.py ├── object_state_test.py ├── observation.py ├── observation_test.py ├── operations.py ├── operations_test.py ├── roadgraph.py ├── roadgraph_test.py ├── route.py ├── route_test.py ├── simulator_state.py ├── simulator_state_test.py ├── traffic_lights.py └── traffic_lights_test.py ├── dynamics ├── __init__.py ├── abstract_dynamics.py ├── abstract_dynamics_test.py ├── bicycle_model.py ├── bicycle_model_test.py ├── delta.py ├── delta_test.py ├── discretizer.py ├── discretizer_test.py ├── state_dynamics.py └── state_dynamics_test.py ├── env ├── __init__.py ├── abstract_environment.py ├── abstract_environment_test.py ├── base_environment.py ├── base_environment_test.py ├── errors.py ├── planning_agent_environment.py ├── planning_agent_environment_test.py ├── rollout.py ├── rollout_test.py ├── typedefs.py └── wrappers │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-310.pyc │ ├── brax_wrapper.cpython-310.pyc │ ├── brax_wrapper_test.cpython-310.pyc │ ├── dm_env_wrapper.cpython-310.pyc │ └── dm_env_wrapper_test.cpython-310.pyc │ ├── brax_wrapper.py │ ├── brax_wrapper_test.py │ ├── dm_env_wrapper.py │ └── dm_env_wrapper_test.py ├── metrics ├── __init__.py ├── abstract_metric.py ├── abstract_metric_test.py ├── comfort.py ├── comfort_test.py ├── imitation.py ├── imitation_test.py ├── metric_factory.py ├── metric_factory_test.py ├── overlap.py ├── overlap_test.py ├── roadgraph.py ├── roadgraph_test.py ├── route.py └── route_test.py ├── rewards ├── __init__.py ├── abstract_reward_function.py ├── abstract_reward_function_test.py ├── linear_combination_reward.py └── linear_combination_reward_test.py ├── utils ├── __init__.py ├── geometry.py ├── geometry_test.py └── test_utils.py └── visualization ├── __init__.py ├── color.py ├── utils.py ├── viz.py └── viz_test.py /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sephirex-X/LatentDriver/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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