├── .gitignore ├── CHANGELOG.md ├── LICENSE ├── README.md ├── arguments.py ├── collect_data.py ├── crowd_nav ├── __init__.py ├── configs │ ├── __init__.py │ └── config.py └── policy │ ├── orca.py │ ├── policy.py │ ├── policy_factory.py │ ├── social_force.py │ └── srnn.py ├── crowd_sim ├── README.md ├── __init__.py └── envs │ ├── __init__.py │ ├── crowd_sim.py │ ├── crowd_sim_pred.py │ ├── crowd_sim_pred_real_gst.py │ ├── crowd_sim_var_num.py │ ├── crowd_sim_var_num_collect.py │ ├── ros_turtlebot2i_env.py │ └── utils │ ├── __init__.py │ ├── action.py │ ├── agent.py │ ├── human.py │ ├── info.py │ ├── recorder.py │ ├── robot.py │ └── state.py ├── figures ├── losses.png ├── open.png ├── rewards.png └── visual.gif ├── gst_updated ├── .gitignore ├── LICENSE ├── README-old.md ├── README.md ├── __init__.py ├── requirements.txt ├── results │ ├── 100-gumbel_social_transformer-faster_lstm-lr_0.001-init_temp_0.5-edge_head_0-ebd_64-snl_1-snh_8-seed_1000 │ │ └── sj │ │ │ ├── aoe │ │ │ ├── train │ │ │ │ ├── events.out.tfevents.1638318612.illfit-Alienware │ │ │ │ └── events.out.tfevents.1640147014.illfit-Alienware │ │ │ └── val │ │ │ │ ├── events.out.tfevents.1638318612.illfit-Alienware │ │ │ │ └── events.out.tfevents.1640147014.illfit-Alienware │ │ │ ├── checkpoint │ │ │ ├── args.pickle │ │ │ ├── epoch_100.pt │ │ │ └── train_hist.pickle │ │ │ ├── events.out.tfevents.1638318475.illfit-Alienware │ │ │ ├── events.out.tfevents.1640146898.illfit-Alienware │ │ │ ├── foe │ │ │ ├── train │ │ │ │ ├── events.out.tfevents.1638318612.illfit-Alienware │ │ │ │ └── events.out.tfevents.1640147014.illfit-Alienware │ │ │ └── val │ │ │ │ ├── events.out.tfevents.1638318612.illfit-Alienware │ │ │ │ └── events.out.tfevents.1640147014.illfit-Alienware │ │ │ └── loss │ │ │ ├── train │ │ │ ├── events.out.tfevents.1638318612.illfit-Alienware │ │ │ └── events.out.tfevents.1640147014.illfit-Alienware │ │ │ └── val │ │ │ ├── events.out.tfevents.1638318612.illfit-Alienware │ │ │ └── events.out.tfevents.1640147014.illfit-Alienware │ ├── 100-gumbel_social_transformer-faster_lstm-lr_0.001-init_temp_0.5-edge_head_0-ebd_64-snl_1-snh_8-seed_1000_rand │ │ └── sj │ │ │ ├── aoe │ │ │ ├── train │ │ │ │ └── events.out.tfevents.1640901930.illfit-Alienware │ │ │ └── val │ │ │ │ └── events.out.tfevents.1640901930.illfit-Alienware │ │ │ ├── checkpoint │ │ │ ├── args.pickle │ │ │ ├── epoch_100.pt │ │ │ └── train_hist.pickle │ │ │ ├── events.out.tfevents.1640901826.illfit-Alienware │ │ │ ├── foe │ │ │ ├── train │ │ │ │ └── events.out.tfevents.1640901930.illfit-Alienware │ │ │ └── val │ │ │ │ └── events.out.tfevents.1640901930.illfit-Alienware │ │ │ └── loss │ │ │ ├── train │ │ │ └── events.out.tfevents.1640901930.illfit-Alienware │ │ │ └── val │ │ │ └── events.out.tfevents.1640901930.illfit-Alienware │ └── README.md ├── run │ ├── create_batch_datasets_eth_ucy.sh │ ├── create_batch_datasets_self_eth_ucy.sh │ ├── create_batch_datasets_synth.sh │ ├── download_datasets_models.sh │ ├── download_wrapper_data_model.sh │ └── make_dirs.sh ├── scripts │ ├── experiments │ │ ├── draft.py │ │ ├── eval.py │ │ ├── eval_trajnet.py │ │ ├── load_trajnet_test_data.py │ │ ├── pathhack.py │ │ ├── test.py │ │ ├── test_gst.py │ │ └── train.py │ └── wrapper │ │ ├── crowd_nav_interface_multi_env_parallel.py │ │ ├── crowd_nav_interface_multi_env_visualization_test_single_batch.py │ │ ├── crowd_nav_interface_parallel.py │ │ └── pathhack.py ├── src │ ├── gumbel_social_transformer │ │ ├── edge_selector_ghost.py │ │ ├── edge_selector_no_ghost.py │ │ ├── gumbel_social_transformer.py │ │ ├── mha.py │ │ ├── node_encoder_layer_ghost.py │ │ ├── node_encoder_layer_no_ghost.py │ │ ├── pathhack.py │ │ ├── st_model.py │ │ ├── temperature_scheduler.py │ │ ├── temporal_convolution_net.py │ │ └── utils.py │ ├── mgnn │ │ ├── batch_trajectories.py │ │ ├── trajectories.py │ │ ├── trajectories_sdd.py │ │ ├── trajectories_trajnet.py │ │ ├── trajectories_trajnet_testset.py │ │ └── utils.py │ └── pec_net │ │ ├── config │ │ └── optimal.yaml │ │ ├── sdd_trajectories.py │ │ └── social_utils.py └── tuning │ ├── 211130-train_shuijing.sh │ ├── 211203-eval_shuijing.sh │ ├── 211203-train_shuijing.sh │ └── 211209-test_shuijing.sh ├── plot.py ├── requirements.txt ├── rl ├── .gitignore ├── __init__.py ├── evaluation.py ├── networks │ ├── __init__.py │ ├── distributions.py │ ├── dummy_vec_env.py │ ├── envs.py │ ├── model.py │ ├── network_utils.py │ ├── selfAttn_srnn_temp_node.py │ ├── shmem_vec_env.py │ ├── srnn_model.py │ └── storage.py ├── ppo │ ├── __init__.py │ └── ppo.py └── vec_env │ ├── __init__.py │ ├── dummy_vec_env.py │ ├── envs.py │ ├── logger.py │ ├── running_mean_std.py │ ├── shmem_vec_env.py │ ├── tile_images.py │ ├── util.py │ ├── vec_env.py │ ├── vec_frame_stack.py │ ├── vec_normalize.py │ ├── vec_pretext_normalize.py │ └── vec_remove_dict_obs.py ├── test.py ├── train.py └── trained_models ├── GST_predictor_non_rand ├── arguments.py ├── checkpoints │ └── 41200.pt ├── configs │ ├── 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