├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── config ├── config.json └── nuScenes.json ├── experiments ├── nuScenes │ ├── NuScenes Qualitative.ipynb │ ├── NuScenes Quantitative.ipynb │ ├── evaluate.py │ ├── helper.py │ ├── icons │ │ ├── Car TOP_VIEW 375397.png │ │ ├── Car TOP_VIEW 80CBE5.png │ │ ├── Car TOP_VIEW ABCB51.png │ │ ├── Car TOP_VIEW C8B0B0.png │ │ ├── Car TOP_VIEW F05F78.png │ │ └── Car TOP_VIEW ROBOT.png │ ├── kalman_filter.py │ ├── models │ │ ├── int_ee │ │ │ └── config.json │ │ ├── int_ee_me │ │ │ └── config.json │ │ ├── robot │ │ │ └── config.json │ │ └── vel_ee │ │ │ └── config.json │ ├── process_data.py │ └── results │ │ └── .gitkeep └── pedestrians │ ├── Result Analysis.ipynb │ ├── eval_vel_cmds.txt │ ├── evaluate.py │ ├── models │ ├── eth_attention_radius_3 │ │ └── config.json │ ├── eth_vel │ │ └── config.json │ ├── hotel_attention_radius_3 │ │ └── config.json │ ├── hotel_vel │ │ └── config.json │ ├── univ_attention_radius_3 │ │ └── config.json │ ├── univ_vel │ │ └── config.json │ ├── zara1_attention_radius_3 │ │ └── config.json │ ├── zara1_vel │ │ └── config.json │ ├── zara2_attention_radius_3 │ │ └── config.json │ └── zara2_vel │ │ └── config.json │ ├── process_data.py │ ├── raw │ ├── eth │ │ ├── test │ │ │ └── biwi_eth.txt │ │ ├── train │ │ │ ├── biwi_hotel_train.txt │ │ │ ├── crowds_zara01_train.txt │ │ │ ├── crowds_zara02_train.txt │ │ │ ├── crowds_zara03_train.txt │ │ │ ├── students001_train.txt │ │ │ ├── students003_train.txt │ │ │ └── uni_examples_train.txt │ │ └── val │ │ │ ├── biwi_hotel_val.txt │ │ │ ├── crowds_zara01_val.txt │ │ │ ├── crowds_zara02_val.txt │ │ │ ├── crowds_zara03_val.txt │ │ │ ├── students001_val.txt │ │ │ ├── students003_val.txt │ │ │ └── uni_examples_val.txt │ ├── hotel │ │ ├── test │ │ │ └── biwi_hotel.txt │ │ ├── train │ │ │ ├── biwi_eth_train.txt │ │ │ ├── crowds_zara01_train.txt │ │ │ ├── crowds_zara02_train.txt │ │ │ ├── crowds_zara03_train.txt │ │ │ ├── students001_train.txt │ │ │ ├── students003_train.txt │ │ │ └── uni_examples_train.txt │ │ └── val │ │ │ ├── biwi_eth_val.txt │ │ │ ├── crowds_zara01_val.txt │ │ │ ├── crowds_zara02_val.txt │ │ │ ├── crowds_zara03_val.txt │ │ │ ├── students001_val.txt │ │ │ ├── students003_val.txt │ │ │ └── uni_examples_val.txt │ ├── raw │ │ ├── all_data │ │ │ ├── biwi_eth.txt │ │ │ ├── biwi_hotel.txt │ │ │ ├── crowds_zara01.txt │ │ │ ├── crowds_zara02.txt │ │ │ ├── crowds_zara03.txt │ │ │ ├── students001.txt │ │ │ ├── students003.txt │ │ │ └── uni_examples.txt │ │ ├── train │ │ │ ├── biwi_eth_train.txt │ │ │ ├── biwi_hotel_train.txt │ │ │ ├── crowds_zara01_train.txt │ │ │ ├── crowds_zara02_train.txt │ │ │ ├── crowds_zara03_train.txt │ │ │ ├── students001_train.txt │ │ │ ├── students003_train.txt │ │ │ └── uni_examples_train.txt │ │ └── val │ │ │ ├── biwi_eth_val.txt │ │ │ ├── biwi_hotel_val.txt │ │ │ ├── crowds_zara01_val.txt │ │ │ ├── crowds_zara02_val.txt │ │ │ ├── crowds_zara03_val.txt │ │ │ ├── students001_val.txt │ │ │ ├── students003_val.txt │ │ │ └── uni_examples_val.txt │ ├── univ │ │ ├── test │ │ │ ├── students001.txt │ │ │ └── students003.txt │ │ ├── train │ │ │ ├── biwi_eth_train.txt │ │ │ ├── biwi_hotel_train.txt │ │ │ ├── crowds_zara01_train.txt │ │ │ ├── crowds_zara02_train.txt │ │ │ ├── crowds_zara03_train.txt │ │ │ └── uni_examples_train.txt │ │ └── val │ │ │ ├── biwi_eth_val.txt │ │ │ ├── biwi_hotel_val.txt │ │ │ ├── crowds_zara01_val.txt │ │ │ ├── crowds_zara02_val.txt │ │ │ ├── crowds_zara03_val.txt │ │ │ └── uni_examples_val.txt │ ├── zara1 │ │ ├── test │ │ │ └── crowds_zara01.txt │ │ ├── train │ │ │ ├── biwi_eth_train.txt │ │ │ ├── biwi_hotel_train.txt │ │ │ ├── crowds_zara02_train.txt │ │ │ ├── crowds_zara03_train.txt │ │ │ ├── students001_train.txt │ │ │ ├── students003_train.txt │ │ │ └── uni_examples_train.txt │ │ └── val │ │ │ ├── biwi_eth_val.txt │ │ │ ├── biwi_hotel_val.txt │ │ │ ├── crowds_zara02_val.txt │ │ │ ├── crowds_zara03_val.txt │ │ │ ├── students001_val.txt │ │ │ ├── students003_val.txt │ │ │ └── uni_examples_val.txt │ └── zara2 │ │ ├── test │ │ └── crowds_zara02.txt │ │ ├── train │ │ ├── biwi_eth_train.txt │ │ ├── biwi_hotel_train.txt │ │ ├── crowds_zara01_train.txt │ │ ├── crowds_zara03_train.txt │ │ ├── students001_train.txt │ │ ├── students003_train.txt │ │ └── uni_examples_train.txt │ │ └── val │ │ ├── biwi_eth_val.txt │ │ ├── biwi_hotel_val.txt │ │ ├── crowds_zara01_val.txt │ │ ├── crowds_zara03_val.txt │ │ ├── students001_val.txt │ │ ├── students003_val.txt │ │ └── uni_examples_val.txt │ └── results │ └── .gitkeep ├── img └── Trajectron++.png ├── requirements.txt └── 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 │ ├── additive_attention.py │ ├── discrete_latent.py │ ├── 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