├── .gitignore ├── README.md ├── assets ├── gif │ ├── multiple_vehicle.gif │ ├── near_ped.gif │ └── unprotect_turn.gif └── img │ ├── architecture.png │ ├── diffusion_planner.png │ └── quality.png ├── data_process.py ├── data_process.sh ├── diffusion_planner ├── __init__.py ├── config │ ├── __init__.py │ ├── planner │ │ ├── __init__.py │ │ ├── diffusion_planner.yaml │ │ └── diffusion_planner_guidance.yaml │ └── scenario_filter │ │ ├── __init__.py │ │ ├── test14-hard.yaml │ │ ├── test14-random.yaml │ │ ├── test_one_scenatio.yaml │ │ ├── val14-collision.yaml │ │ └── val14.yaml ├── data_process │ ├── __init__.py │ ├── agent_process.py │ ├── data_processor.py │ ├── ego_process.py │ ├── map_process.py │ ├── roadblock_utils.py │ └── utils.py ├── loss.py ├── model │ ├── __init__.py │ ├── diffusion_planner.py │ ├── diffusion_utils │ │ ├── __init__.py │ │ ├── dpm_solver_pytorch.py │ │ ├── sampling.py │ │ └── sde.py │ ├── guidance │ │ ├── collision.py │ │ ├── documentation_guidance.md │ │ └── guidance_wrapper.py │ └── module │ │ ├── __init__.py │ │ ├── decoder.py │ │ ├── dit.py │ │ ├── encoder.py │ │ └── mixer.py ├── planner │ ├── __init__.py │ └── planner.py ├── train_epoch.py └── utils │ ├── __init__.py │ ├── config.py │ ├── data_augmentation.py │ ├── dataset.py │ ├── ddp.py │ ├── lr_schedule.py │ ├── normalizer.py │ ├── tb_log.py │ └── train_utils.py ├── normalization.json ├── nuplan_train.json ├── requirements_torch.txt ├── run_nuboard.ipynb ├── setup.py ├── sim_diffusion_planner_runner.sh ├── sim_guidance_demo.sh ├── torch_run.sh └── train_predictor.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZhengYinan-AIR/Diffusion-Planner/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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