├── README.md ├── environment.yml ├── gym_carla ├── config │ └── carla_config.py ├── envs │ ├── BasicEnv.py │ ├── carla_env3.py │ ├── carla_env4.py │ ├── carla_env4_fixed.py │ ├── carla_env4_fixed2.py │ └── carla_env_multi_task.py ├── modules │ ├── __init__.py │ ├── carla_module.py │ ├── rl_modules │ │ ├── __init__.py │ │ └── state_representation │ │ │ ├── __init__.py │ │ │ ├── state_manager4.py │ │ │ ├── state_manager5.py │ │ │ ├── state_manager6.py │ │ │ ├── state_manager_2.py │ │ │ └── state_manager_3.py │ ├── route_generator │ │ ├── __init__.py │ │ ├── junction_route_generator.py │ │ └── junction_route_manager2.py │ ├── traffic_lights │ │ ├── __init__.py │ │ ├── traffic_lights_manager.py │ │ └── traffic_lights_manager2.py │ └── trafficflow │ │ ├── __init__.py │ │ ├── ou_noise.py │ │ ├── traffic_flow.py │ │ ├── traffic_flow_manager.py │ │ ├── traffic_flow_manager2.py │ │ ├── traffic_flow_manager4.py │ │ ├── traffic_flow_manager5.py │ │ └── traffic_flow_manager_multi_task.py ├── navigation │ ├── __init__.py │ ├── agent.py │ ├── basic_agent.py │ ├── behavior_agent.py │ ├── controller.py │ ├── global_route_planner.py │ ├── global_route_planner_dao.py │ ├── local_planner.py │ ├── local_planner_behavior.py │ ├── misc.py │ ├── roaming_agent.py │ └── types_behavior.py ├── safety_layer │ ├── __init__.py │ ├── data_analysis.py │ ├── data_collector.py │ ├── dataset_manipulation.py │ ├── load_datasets.py │ ├── restore_safetylayer.py │ ├── roll_out_policy.py │ ├── safety_layer.py │ ├── safety_layer_devised.py │ ├── shuffle_datasets.py │ ├── train_loop.py │ ├── train_multi_task.py │ └── train_safetylayer.py └── util_development │ ├── __init__.py │ ├── carla_color.py │ ├── carla_color2.py │ ├── carla_data_provider.py │ ├── kinetics.py │ ├── route_manipulation.py │ ├── scenario_helper_modified.py │ ├── sensors.py │ ├── util.py │ ├── util_junction.py │ ├── util_visualization.py │ └── vehicle_control.py └── rl_agents └── td3_old ├── __init__.py ├── multi_task ├── __init__.py ├── developing │ ├── __init__.py │ ├── resume_training.py │ ├── rl_agent.py │ ├── rl_config.py │ ├── rl_utils.py │ ├── run_test.py │ └── train_ablation.py ├── networks │ ├── __init__.py │ ├── agent.py │ ├── config.py │ ├── mt_td3_networks.py │ ├── prioritized_replay.py │ ├── pure_td3_networks.py │ ├── soc_mt_td3_networks.py │ ├── soc_td3_networks.py │ └── utils.py ├── result_analysis │ ├── __init__.py │ ├── merge_curves.py │ ├── merge_curves_chn.py │ ├── plot_results.py │ └── plot_results_chn.py └── utils │ ├── __init__.py │ ├── collect_memory.py │ ├── env_run_loop_safety.py │ ├── memory_manipulation.py │ ├── random_ablation_analysis.py │ └── run_loop_tune_ttc.py └── single_task ├── __init__.py ├── with_attention ├── plot_results.py ├── rl_agent.py ├── rl_config.py └── rl_utils.py └── without_attention ├── __init__.py ├── noise.py ├── plot_ou_param_dist.py ├── plot_params_dist.py ├── plot_results.py ├── resume_training.py ├── rl_agent.py ├── rl_agent2.py ├── rl_config.py ├── 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