├── .gitignore ├── GoalFlow.pdf ├── LICENSE ├── README.md ├── assets ├── 1a1fbb255ec55813.gif ├── 25b719c231d85e56.gif ├── 41da8ea7c14754d2.gif ├── 676880c7e31252c0.gif ├── cf12097663665430.gif ├── d2440edd19d954b5.gif ├── fb0a26a28ec359ce.gif ├── goalflow_logo.png ├── main_fig.png ├── visual_goal_point │ ├── dac_scores │ │ ├── 0a44947ca9e85579.png │ │ ├── 1db7c81f96855ce9.png │ │ ├── 2a06b778a64b545e.png │ │ └── 7abf60c1594953cf.png │ ├── final_scores │ │ ├── 0a44947ca9e85579.png │ │ ├── 1db7c81f96855ce9.png │ │ ├── 2a06b778a64b545e.png │ │ └── 7abf60c1594953cf.png │ └── im_scores │ │ ├── 0a44947ca9e85579.png │ │ ├── 1db7c81f96855ce9.png │ │ ├── 2a06b778a64b545e.png │ │ └── 7abf60c1594953cf.png └── visualization.png ├── docs ├── install.md ├── test.md └── train.md ├── download ├── download_maps.sh ├── download_mini.sh ├── download_navtrain.sh ├── download_private_test_e2e.sh ├── download_test.sh └── download_trainval.sh ├── navsim ├── __init__.py ├── agents │ ├── __init__.py │ ├── abstract_agent.py │ ├── constant_velocity_agent.py │ ├── ego_status_mlp_agent.py │ ├── goalflow │ │ ├── diffusion_es.py │ │ ├── goalflow_agent_navi.py │ │ ├── goalflow_agent_traj.py │ │ ├── goalflow_callback.py │ │ ├── goalflow_config.py │ │ ├── goalflow_features.py │ │ ├── goalflow_loss.py │ │ ├── goalflow_model_navi.py │ │ ├── goalflow_model_traj.py │ │ ├── multihead_custom_attention.py │ │ ├── positional_embeddings.py │ │ ├── resnet_backbone.py │ │ ├── utils.py │ │ └── v99_backbone.py │ └── human_agent.py ├── common │ ├── __init__.py │ ├── dataclasses.py │ ├── dataloader.py │ └── enums.py ├── evaluate │ ├── __init__.py │ └── pdm_score.py ├── planning │ ├── __init__.py │ ├── metric_caching │ │ ├── __init__.py │ │ ├── caching.py │ │ ├── metric_cache.py │ │ ├── metric_cache_processor.py │ │ └── metric_caching_utils.py │ ├── scenario_builder │ │ ├── __init__.py │ │ ├── navsim_scenario.py │ │ └── navsim_scenario_utils.py │ ├── script │ │ ├── __init__.py │ │ ├── builders │ │ │ ├── __init__.py │ │ │ ├── observation_builder.py │ │ │ ├── planner_builder.py │ │ │ ├── simulation_builder.py │ │ │ └── worker_pool_builder.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ ├── common │ │ │ │ ├── __init__.py │ │ │ │ ├── agent │ │ │ │ │ ├── constant_velocity_agent.yaml │ │ │ │ │ ├── ego_status_mlp_agent.yaml │ │ │ │ │ ├── goalflow_agent_navi.yaml │ │ │ │ │ ├── goalflow_agent_traj.yaml │ │ │ │ │ └── human_agent.yaml │ │ │ │ ├── default_common.yaml │ │ │ │ ├── default_evaluation.yaml │ │ │ │ ├── scene_filter │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── all_scenes.yaml │ │ │ │ │ ├── navtest.yaml │ │ │ │ │ ├── navtrain.yaml │ │ │ │ │ ├── private_test_e2e.yaml │ │ │ │ │ └── warmup_test_e2e.yaml │ │ │ │ └── worker │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── ray_distributed.yaml │ │ │ │ │ ├── ray_distributed_no_torch.yaml │ │ │ │ │ ├── sequential.yaml │ │ │ │ │ └── single_machine_thread_pool.yaml │ │ │ ├── metric_caching │ │ │ │ ├── __init__.py │ │ │ │ └── default_metric_caching.yaml │ │ │ ├── pdm_scoring │ │ │ │ ├── __init__.py │ │ │ │ ├── default_run_create_submission_pickle.yaml │ │ │ │ ├── default_run_pdm_score.yaml │ │ │ │ ├── default_run_pdm_score_from_submission.yaml │ │ │ │ ├── default_run_pdm_score_trajs.yaml │ │ │ │ ├── default_scoring_parameters.yaml │ │ │ │ └── transfuser_scoring_parameters.yaml │ │ │ └── training │ │ │ │ ├── __init__.py │ │ │ │ ├── default_train_val_test_log_split.yaml │ │ │ │ ├── default_training.yaml │ │ │ │ ├── goalflow_training.yaml │ │ │ │ └── trainval_test.yaml │ │ ├── run_create_submission_pickle.py │ │ ├── run_dac_score.py │ │ ├── run_dataset_caching.py │ │ ├── run_generate_trajs.py │ │ ├── run_metric_caching.py │ │ ├── run_pdm_score.py │ │ ├── run_pdm_score_trajs.py │ │ ├── run_training.py │ │ └── utils.py │ ├── simulation │ │ ├── __init__.py │ │ └── planner │ │ │ ├── __init__.py │ │ │ └── pdm_planner │ │ │ ├── __init__.py │ │ │ ├── abstract_pdm_closed_planner.py │ │ │ ├── abstract_pdm_planner.py │ │ │ ├── observation │ │ │ ├── __init__.py │ │ │ ├── pdm_object_manager.py │ │ │ ├── pdm_observation.py │ │ │ └── pdm_occupancy_map.py │ │ │ ├── pdm_closed_planner.py │ │ │ ├── proposal │ │ │ ├── __init__.py │ │ │ ├── batch_idm_policy.py │ │ │ ├── pdm_generator.py │ │ │ └── pdm_proposal.py │ │ │ ├── scoring │ │ │ ├── __init__.py │ │ │ ├── pdm_comfort_metrics.py │ │ │ ├── pdm_scorer.py │ │ │ └── pdm_scorer_utils.py │ │ │ ├── simulation │ │ │ ├── __init__.py │ │ │ ├── batch_kinematic_bicycle.py │ │ │ ├── batch_lqr.py │ │ │ ├── batch_lqr_utils.py │ │ │ └── pdm_simulator.py │ │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── graph_search │ │ │ ├── __init__.py │ │ │ ├── bfs_roadblock.py │ │ │ └── dijkstra.py │ │ │ ├── pdm_array_representation.py │ │ │ ├── pdm_emergency_brake.py │ │ │ ├── pdm_enums.py │ │ │ ├── pdm_geometry_utils.py │ │ │ ├── pdm_path.py │ │ │ └── route_utils.py │ ├── training │ │ ├── __init__.py │ │ ├── abstract_feature_target_builder.py │ │ ├── agent_lightning_module.py │ │ ├── callbacks │ │ │ └── time_logging_callback.py │ │ └── dataset.py │ └── utils │ │ └── multithreading │ │ ├── __init__.py │ │ └── worker_ray_no_torch.py ├── visualization │ ├── __init__.py │ ├── bev.py │ ├── camera.py │ ├── config.py │ ├── lidar.py │ └── plots.py └── worker_utils.py ├── requirements.txt ├── scripts ├── cahce │ ├── run_dataset_cache_test.sh │ ├── run_dataset_cache_tranval.sh │ ├── run_metric_caching_test.sh │ └── run_metric_caching_trainval.sh ├── evaluation │ └── run_goalflow_trajs.sh ├── generate │ ├── run_generate_dac_label.sh │ ├── run_generate_navi.sh │ └── run_generate_trajs.sh └── training │ ├── run_goalflow_training_navi.sh │ ├── run_goalflow_training_perception.sh │ └── run_goalflow_training_traj.sh ├── setup.py └── vovnet ├── __init__.py ├── backbones ├── act.py ├── backbone.py ├── build.py ├── fpn.py ├── fpn_.py ├── norm.py ├── ops.py └── utils.py ├── config.py ├── config_ ├── config_.py └── file_io.py ├── configs ├── faster_rcnn_V_99_FPN_3x.yaml └── mask_rcnn_V_99_FPN_3x.yaml ├── 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