├── LICENSE ├── README.md ├── assets ├── left_0.png ├── logo.png ├── pipeline.png ├── right_0.png ├── straight_0.png ├── straight_1.png └── truncated_diffusion_policy.png ├── docs ├── install.md └── train_eval.md ├── download ├── download_maps.sh ├── download_mini.sh ├── download_navtrain.sh ├── download_private_test_e2e.sh ├── download_test.sh ├── download_trainval.sh └── super_download.sh ├── environment.yml ├── navsim ├── __init__.py ├── agents │ ├── __init__.py │ ├── abstract_agent.py │ ├── constant_velocity_agent.py │ ├── diffusiondrive │ │ ├── modules │ │ │ ├── blocks.py │ │ │ ├── conditional_unet1d.py │ │ │ ├── multimodal_loss.py │ │ │ └── scheduler.py │ │ ├── transfuser_agent.py │ │ ├── transfuser_backbone.py │ │ ├── transfuser_callback.py │ │ ├── transfuser_config.py │ │ ├── transfuser_features.py │ │ ├── transfuser_loss.py │ │ └── transfuser_model_v2.py │ ├── ego_status_mlp_agent.py │ ├── human_agent.py │ └── transfuser │ │ ├── transfuser_agent.py │ │ ├── transfuser_backbone.py │ │ ├── transfuser_callback.py │ │ ├── transfuser_config.py │ │ ├── transfuser_features.py │ │ ├── transfuser_loss.py │ │ └── transfuser_model.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 │ │ │ │ │ ├── diffusiondrive_agent.yaml │ │ │ │ │ ├── ego_status_mlp_agent.yaml │ │ │ │ │ ├── human_agent.yaml │ │ │ │ │ └── transfuser_agent.yaml │ │ │ │ ├── default_common.yaml │ │ │ │ ├── default_evaluation.yaml │ │ │ │ ├── train_test_split │ │ │ │ │ ├── mini.yaml │ │ │ │ │ ├── navmini.yaml │ │ │ │ │ ├── navtest.yaml │ │ │ │ │ ├── navtrain.yaml │ │ │ │ │ ├── private_test_e2e.yaml │ │ │ │ │ ├── scene_filter │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── all_scenes.yaml │ │ │ │ │ │ ├── competition_private_tokens.yaml │ │ │ │ │ │ ├── navmini.yaml │ │ │ │ │ │ ├── navtest.yaml │ │ │ │ │ │ ├── navtrain.yaml │ │ │ │ │ │ ├── private_test_e2e.yaml │ │ │ │ │ │ └── warmup_test_e2e.yaml │ │ │ │ │ ├── test.yaml │ │ │ │ │ ├── trainval.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_merge_submission_pickles.yaml │ │ │ │ ├── default_run_pdm_score.yaml │ │ │ │ ├── default_run_pdm_score_from_submission.yaml │ │ │ │ └── default_scoring_parameters.yaml │ │ │ └── training │ │ │ │ ├── __init__.py │ │ │ │ ├── default_train_val_test_log_split.yaml │ │ │ │ └── default_training.yaml │ │ ├── run_create_submission_pickle.py │ │ ├── run_dataset_caching.py │ │ ├── run_merge_submission_pickles.py │ │ ├── run_metric_caching.py │ │ ├── run_pdm_score.py │ │ ├── run_pdm_score_from_submission.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 ├── requirements.txt ├── scripts ├── evaluation │ ├── run_cv_pdm_score_evaluation.sh │ ├── run_ego_mlp_agent_pdm_score_evaluation.sh │ ├── run_human_agent_pdm_score_evaluation.sh │ ├── run_metric_caching.sh │ └── run_transfuser.sh ├── submission │ ├── run_cv_create_submission_pickle.sh │ └── run_merge_submission_pickles.sh └── training │ ├── run_ego_mlp_agent_training.sh │ └── run_transfuser_training.sh ├── setup.py └── tutorial └── tutorial_visualization.ipynb /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hustvl/DiffusionDrive/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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