├── .gitignore ├── README.md ├── carla_env.yml ├── carla_gym ├── __init__.py ├── carla_multi_agent_env.py ├── core │ ├── obs_manager │ │ ├── actor_state │ │ │ ├── control.py │ │ │ ├── route.py │ │ │ ├── speed.py │ │ │ └── velocity.py │ │ ├── birdview │ │ │ ├── chauffeurnet.py │ │ │ ├── chauffeurnet_label.py │ │ │ └── maps │ │ │ │ ├── Town01.h5 │ │ │ │ ├── Town02.h5 │ │ │ │ ├── Town03.h5 │ │ │ │ ├── Town04.h5 │ │ │ │ ├── Town05.h5 │ │ │ │ └── Town06.h5 │ │ ├── camera │ │ │ ├── depth_semantic.py │ │ │ ├── depth_semantic_m.py │ │ │ └── rgb.py │ │ ├── lidar │ │ │ ├── ray_cast.py │ │ │ ├── ray_cast_multi.py │ │ │ └── ray_cast_semantic.py │ │ ├── navigation │ │ │ ├── gnss.py │ │ │ └── waypoint_plan.py │ │ ├── object_finder │ │ │ ├── ego.py │ │ │ ├── pedestrian.py │ │ │ ├── stop_sign.py │ │ │ ├── traffic_light_new.py │ │ │ └── vehicle.py │ │ ├── obs_manager.py │ │ └── obs_manager_handler.py │ ├── task_actor │ │ ├── common │ │ │ ├── criteria │ │ │ │ ├── blocked.py │ │ │ │ ├── collision.py │ │ │ │ ├── encounter_light.py │ │ │ │ ├── outside_route_lane.py │ │ │ │ ├── route_deviation.py │ │ │ │ ├── run_red_light.py │ │ │ │ └── run_stop_sign.py │ │ │ ├── navigation │ │ │ │ ├── global_route_planner.py │ │ │ │ ├── map_utils.py │ │ │ │ └── route_manipulation.py │ │ │ └── task_vehicle.py │ │ ├── ego_vehicle │ │ │ ├── ego_vehicle_handler.py │ │ │ ├── reward │ │ │ │ └── valeo_action.py │ │ │ └── terminal │ │ │ │ ├── leaderboard.py │ │ │ │ ├── leaderboard_dagger.py │ │ │ │ ├── valeo.py │ │ │ │ └── valeo_no_det_px.py │ │ └── scenario_actor │ │ │ ├── agents │ │ │ ├── basic_agent.py │ │ │ ├── constant_speed_agent.py │ │ │ └── utils │ │ │ │ ├── controller.py │ │ │ │ ├── local_planner.py │ │ │ │ └── misc.py │ │ │ └── scenario_actor_handler.py │ ├── zombie_vehicle │ │ ├── zombie_vehicle.py │ │ └── zombie_vehicle_handler.py │ └── zombie_walker │ │ ├── zombie_walker.py │ │ └── zombie_walker_handler.py ├── envs │ ├── __init__.py │ ├── scenario_descriptions │ │ └── LeaderBoard │ │ │ ├── Town01 │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ ├── Town02 │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ ├── Town03 │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ ├── Town04 │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ ├── Town04_test │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ ├── Town04_train │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ ├── Town05 │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ └── Town06 │ │ │ ├── actors.json │ │ │ └── routes.xml │ └── suites │ │ ├── endless_env.py │ │ └── leaderboard_env.py └── utils │ ├── birdview_map.py │ ├── config_utils.py │ ├── dynamic_weather.py │ ├── gps_utils.py │ ├── hazard_actor.py │ ├── traffic_light.py │ └── transforms.py ├── config ├── agent │ ├── mile.yaml │ ├── mile │ │ └── obs_configs │ │ │ └── central_rgb_wide.yaml │ ├── my.yaml │ ├── my │ │ └── obs_configs │ │ │ ├── camera_lidar.yaml │ │ │ └── camera_lidar_semantic.yaml │ ├── ppo.yaml │ └── ppo │ │ ├── obs_configs │ │ └── birdview.yaml │ │ └── policy │ │ └── xtma_beta.yaml ├── data_collect.yaml ├── evaluate.yaml └── test_suites │ ├── lb_data.yaml │ └── lb_test.yaml ├── constants.py ├── data ├── data_preprocess.yaml ├── data_preprocessing.py ├── dataset_utils.py ├── generate_voxels.py └── pcd.py ├── data_collect.py ├── muvo ├── config.py ├── configs │ ├── debug.yml │ ├── muvo.yml │ ├── one_frame.yml │ ├── test_base_1d.yml │ ├── test_base_1d_without_voxel.yml │ ├── test_base_2d.yml │ └── test_mobilevit_2d.yml ├── data │ ├── carlagym_utils.py │ ├── dataset.py │ └── dataset_utils.py ├── layers │ └── layers.py ├── losses.py ├── metrics.py ├── models │ ├── common.py │ ├── frustum_pooling.py │ ├── mile.py │ ├── preprocess.py │ ├── transition.py │ └── utils.py ├── trainer.py ├── utils │ ├── carla_utils.py │ ├── geometry_utils.py │ ├── instance_utils.py │ └── network_utils.py └── visualisation.py ├── prediction.py ├── requirements.txt ├── rl_birdview ├── models │ ├── distributions.py │ ├── ppo.py │ ├── ppo_buffer.py │ ├── ppo_policy.py │ ├── torch_layers.py │ └── torch_util.py ├── rl_birdview_agent.py └── utils │ ├── rl_birdview_wrapper.py │ └── wandb_callback.py ├── run └── data_collect.sh ├── sim_run.py ├── train.py ├── utils ├── saving_utils.py └── server_utils.py └── vis ├── .gitkeep └── graphs.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fzi-forschungszentrum-informatik/muvo/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fzi-forschungszentrum-informatik/muvo/HEAD/README.md -------------------------------------------------------------------------------- /carla_env.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fzi-forschungszentrum-informatik/muvo/HEAD/carla_env.yml 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