├── LICENSE ├── README.md ├── __init__.py ├── data_generation ├── data_process.py ├── data_process.sh └── utils.py ├── environment.yml ├── environment_all.yaml ├── gameformer ├── __init__.py ├── adapter.py ├── bezier_path.py ├── common_utils.py ├── cubic_spline_planner.py ├── data_utils.py ├── obs_adapter.py ├── path_planner.py ├── planner.py ├── planner_utils.py ├── predictor.py ├── predictor_adapter.py ├── predictor_modules.py ├── predictor_modules_adapter.py ├── script │ ├── __init__.py │ └── planner │ │ └── gameformer_planner.yaml ├── smoother.py ├── speed_planner.py ├── state_lattice_planner.py └── train_utils.py ├── llama2 ├── __init__.py ├── ds_config.json ├── mapping.py ├── metric.py ├── model.py ├── model_llama4drive.py ├── planner │ ├── __init__.py │ ├── llama4drive.py │ ├── llama4drive_planner.py │ └── script │ │ └── __init__.py ├── sft_llama2_trainer.py ├── sft_llama4drive_trainer.py ├── trainer.py └── utils │ ├── common_utils.py │ └── data_utils.py ├── nuplan ├── BUILD ├── __init__.py ├── cli │ ├── BUILD │ ├── __init__.py │ ├── db_cli.py │ ├── nuplan_cli.py │ └── test │ │ ├── BUILD │ │ ├── __init__.py │ │ └── test_nuplan_cli.py ├── common │ ├── __init__.py │ ├── actor_state │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── agent_state.py │ │ ├── agent_temporal_state.py │ │ ├── car_footprint.py │ │ ├── dynamic_car_state.py │ │ ├── ego_state.py │ │ ├── ego_temporal_state.py │ │ ├── oriented_box.py │ │ ├── scene_object.py │ │ ├── state_representation.py │ │ ├── static_object.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── test_actor_temporal_state.py │ │ │ ├── test_agent.py │ │ │ ├── test_car_footprint.py │ │ │ ├── test_dynamic_car_state.py │ │ │ ├── test_ego_state.py │ │ │ ├── test_oriented_box.py │ │ │ ├── test_scene_object.py │ │ │ ├── test_state_representation.py │ │ │ ├── test_tracked_objects.py │ │ │ ├── test_utils.py │ │ │ └── test_waypoint.py │ │ ├── tracked_objects.py │ │ ├── tracked_objects_types.py │ │ ├── transform_state.py │ │ ├── vehicle_parameters.py │ │ └── waypoint.py │ ├── geometry │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── compute.py │ │ ├── convert.py │ │ ├── interpolate_state.py │ │ ├── interpolate_tracked_object.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── json │ │ │ │ └── interpolate_future.json │ │ │ ├── test_compute.py │ │ │ ├── test_convert.py │ │ │ ├── test_interpolate_tracked_object.py │ │ │ ├── test_torch_geometry.py │ │ │ └── test_transform.py │ │ ├── torch_geometry.py │ │ └── transform.py │ ├── maps │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── abstract_map.py │ │ ├── abstract_map_factory.py │ │ ├── abstract_map_objects.py │ │ ├── map_manager.py │ │ ├── maps_datatypes.py │ │ ├── nuplan_map │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── intersection.py │ │ │ ├── lane.py │ │ │ ├── lane_connector.py │ │ │ ├── map_factory.py │ │ │ ├── nuplan_map.py │ │ │ ├── polygon_map_object.py │ │ │ ├── polyline_map_object.py │ │ │ ├── roadblock.py │ │ │ ├── roadblock_connector.py │ │ │ ├── stop_line.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── json │ │ │ │ │ ├── baseline │ │ │ │ │ │ ├── baseline_in_intersection.json │ │ │ │ │ │ ├── baseline_in_lane.json │ │ │ │ │ │ └── no_baseline.json │ │ │ │ │ ├── connections │ │ │ │ │ │ ├── no_end_connection.json │ │ │ │ │ │ └── no_start_connection.json │ │ │ │ │ ├── crosswalks │ │ │ │ │ │ ├── nearby.json │ │ │ │ │ │ └── on_crosswalk.json │ │ │ │ │ ├── get_nearest │ │ │ │ │ │ ├── lane.json │ │ │ │ │ │ └── lane_connector.json │ │ │ │ │ ├── intersections │ │ │ │ │ │ ├── nearby.json │ │ │ │ │ │ ├── on_intersection.json │ │ │ │ │ │ ├── on_intersection_with_no_stop_lines.json │ │ │ │ │ │ └── on_intersection_with_stop_lines.json │ │ │ │ │ ├── lanes │ │ │ │ │ │ ├── get_adjacent_lanes.json │ │ │ │ │ │ ├── lane_index.json │ │ │ │ │ │ ├── lane_is_left_of.json │ │ │ │ │ │ ├── lanes_are_adjacent.json │ │ │ │ │ │ └── lanes_in_same_roadblock.json │ │ │ │ │ ├── neighboring │ │ │ │ │ │ └── all_map_objects.json │ │ │ │ │ └── stop_lines │ │ │ │ │ │ ├── nearby.json │ │ │ │ │ │ └── on_stopline.json │ │ │ │ ├── test_baseline_path.py │ │ │ │ ├── test_intersection.py │ │ │ │ ├── test_lane.py │ │ │ │ ├── test_lane_connector.py │ │ │ │ ├── test_nuplan_map.py │ │ │ │ ├── test_polygon_map_object.py │ │ │ │ ├── test_roadblock.py │ │ │ │ ├── test_roadblock_connector.py │ │ │ │ ├── test_stop_line.py │ │ │ │ └── test_utils.py │ │ │ └── utils.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ └── test_map_manager.py │ │ └── test_utils.py │ └── utils │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── distributed_scenario_filter.py │ │ ├── file_backed_barrier.py │ │ ├── helpers.py │ │ ├── interpolatable_state.py │ │ ├── io_utils.py │ │ ├── s3_utils.py │ │ ├── split_state.py │ │ ├── test │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── patch_test_methods.py │ │ ├── test_distributed_scenario_filter.py │ │ ├── test_file_backed_barrier.py │ │ ├── test_function_validation.py │ │ ├── test_helpers.py │ │ ├── test_interface_validation.py │ │ ├── test_io_utils.py │ │ ├── test_patch.py │ │ ├── test_s3_utils.py │ │ └── test_torch_math.py │ │ ├── test_utils │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── function_validation.py │ │ ├── instances.py │ │ ├── interface_validation.py │ │ ├── mock_s3_utils.py │ │ ├── nuplan_test.py │ │ ├── patch.py │ │ └── plugin.py │ │ └── torch_math.py ├── database │ ├── BUILD │ ├── __init__.py │ ├── common │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── blob_store │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── blob_store.py │ │ │ ├── cache_store.py │ │ │ ├── creator.py │ │ │ ├── http_store.py │ │ │ ├── local_store.py │ │ │ ├── s3_store.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ └── mock_s3_store.py │ │ ├── data_types.py │ │ ├── db.py │ │ ├── sql_types.py │ │ ├── templates.py │ │ └── utils.py │ ├── maps_db │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── gpkg_mapsdb.py │ │ ├── imapsdb.py │ │ ├── layer.py │ │ ├── layer_dataset_ops.py │ │ ├── map_api.py │ │ ├── map_explorer.py │ │ ├── metadata.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── test_layer.py │ │ │ ├── test_map_api.py │ │ │ └── test_map_explorer.py │ │ └── utils.py │ ├── nuplan_db │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── db_cli_queries.py │ │ ├── db_description_types.py │ │ ├── image.py │ │ ├── lidar_pc.py │ │ ├── nuplan_db_utils.py │ │ ├── nuplan_scenario_queries.py │ │ ├── query_session.py │ │ ├── sensor_data_table_row.py │ │ └── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── minimal_db_test_utils.py │ │ │ ├── test_db_cli_queries.py │ │ │ ├── test_nuplan_db_utils.py │ │ │ └── test_nuplan_scenario_queries.py │ ├── nuplan_db_orm │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── category.py │ │ ├── database_utils.py │ │ ├── ego_pose.py │ │ ├── frame.py │ │ ├── image.py │ │ ├── lidar.py │ │ ├── lidar_box.py │ │ ├── lidar_pc.py │ │ ├── log.py │ │ ├── make_readme.py │ │ ├── models.py │ │ ├── nuplandb.py │ │ ├── nuplandb_wrapper.py │ │ ├── prediction_construction.py │ │ ├── rendering_utils.py │ │ ├── scenario_tag.py │ │ ├── scene.py │ │ ├── splitters.py │ │ ├── templates.py │ │ ├── tests │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── test_camera.py │ │ │ ├── test_category.py │ │ │ ├── test_ego_pose.py │ │ │ ├── test_image.py │ │ │ ├── test_lidar.py │ │ │ ├── test_lidar_box.py │ │ │ ├── test_lidar_pc.py │ │ │ ├── test_log.py │ │ │ ├── test_nuplandb.py │ │ │ ├── test_nuplandb_wrapper.py │ │ │ ├── test_prediction_construction.py │ │ │ ├── test_render.py │ │ │ ├── test_scenario_tag.py │ │ │ ├── test_scene.py │ │ │ ├── test_track.py │ │ │ ├── test_traffic_light_status.py │ │ │ ├── test_utils.py │ │ │ └── test_vector_map_np.py │ │ ├── track.py │ │ ├── traffic_light_status.py │ │ ├── utils.py │ │ └── vector_map_np.py │ ├── tests │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── test_nuplan.py │ │ └── test_utils_nuplan_db.py │ └── utils │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── boxes │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── box.py │ │ ├── box3d.py │ │ └── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ └── test_box3d.py │ │ ├── geometry.py │ │ ├── image.py │ │ ├── iterable_lidar_box.py │ │ ├── label │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── label.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── test_label.py │ │ │ └── test_utils.py │ │ └── utils.py │ │ ├── measure.py │ │ ├── plot.py │ │ ├── pointclouds │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── lidar.py │ │ ├── pointcloud.py │ │ └── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ └── test_lidar.py │ │ ├── test │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── test_geometry.py │ │ ├── test_image.py │ │ ├── test_iterable_lidar_box.py │ │ ├── test_measure.py │ │ └── test_plot.py │ │ └── tests │ │ └── __init__.py ├── entrypoint_result_processor.sh ├── entrypoint_simulation.sh ├── entrypoint_submission.sh ├── planning │ ├── BUILD │ ├── __init__.py │ ├── metrics │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── abstract_metric.py │ │ ├── aggregator │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_metric_aggregator.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── mock_abstract_metric_aggregator.py │ │ │ │ └── test_weighted_average_metric_aggregator.py │ │ │ └── weighted_average_metric_aggregator.py │ │ ├── evaluation_metrics │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── base │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── metric_base.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_violation_metric_base.py │ │ │ │ │ └── test_within_bound_metric_base.py │ │ │ │ ├── violation_metric_base.py │ │ │ │ └── within_bound_metric_base.py │ │ │ ├── common │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── drivable_area_compliance.py │ │ │ │ ├── driving_direction_compliance.py │ │ │ │ ├── ego_acceleration.py │ │ │ │ ├── ego_expert_l2_error.py │ │ │ │ ├── ego_expert_l2_error_with_yaw.py │ │ │ │ ├── ego_is_comfortable.py │ │ │ │ ├── ego_is_making_progress.py │ │ │ │ ├── ego_jerk.py │ │ │ │ ├── ego_lane_change.py │ │ │ │ ├── ego_lat_acceleration.py │ │ │ │ ├── ego_lat_jerk.py │ │ │ │ ├── ego_lon_acceleration.py │ │ │ │ ├── ego_lon_jerk.py │ │ │ │ ├── ego_mean_speed.py │ │ │ │ ├── ego_progress_along_expert_route.py │ │ │ │ ├── ego_yaw_acceleration.py │ │ │ │ ├── ego_yaw_rate.py │ │ │ │ ├── no_ego_at_fault_collisions.py │ │ │ │ ├── planner_expert_average_heading_error_within_bound.py │ │ │ │ ├── planner_expert_average_l2_error_within_bound.py │ │ │ │ ├── planner_expert_final_heading_error_within_bound.py │ │ │ │ ├── planner_expert_final_l2_error_within_bound.py │ │ │ │ ├── planner_miss_rate_within_bound.py │ │ │ │ ├── speed_limit_compliance.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── json │ │ │ │ │ │ ├── drivable_area_compliance │ │ │ │ │ │ │ ├── drivable_area_violation.json │ │ │ │ │ │ │ ├── no_drivable_area_violation.json │ │ │ │ │ │ │ └── small_drivable_area_violation.json │ │ │ │ │ │ ├── driving_direction_compliance │ │ │ │ │ │ │ ├── ego_does_not_drive_backward.json │ │ │ │ │ │ │ ├── ego_drives_backward.json │ │ │ │ │ │ │ └── ego_slightly_drives_backward.json │ │ │ │ │ │ ├── ego_acceleration │ │ │ │ │ │ │ └── ego_acceleration.json │ │ │ │ │ │ ├── ego_expert_l2_error │ │ │ │ │ │ │ └── ego_expert_l2_error.json │ │ │ │ │ │ ├── ego_expert_l2_error_with_yaw │ │ │ │ │ │ │ ├── ego_expert_l2_error_with_yaw.json │ │ │ │ │ │ │ └── ego_expert_l2_error_with_yaw_zero.json │ │ │ │ │ │ ├── ego_is_comfortable │ │ │ │ │ │ │ └── ego_is_comfortable.json │ │ │ │ │ │ ├── ego_is_making_progress │ │ │ │ │ │ │ └── ego_is_making_progress.json │ │ │ │ │ │ ├── ego_jerk │ │ │ │ │ │ │ └── ego_jerk.json │ │ │ │ │ │ ├── ego_lane_change │ │ │ │ │ │ │ └── ego_lane_change.json │ │ │ │ │ │ ├── ego_lat_acceleration │ │ │ │ │ │ │ └── ego_lat_acceleration.json │ │ │ │ │ │ ├── ego_lat_jerk │ │ │ │ │ │ │ └── ego_lat_jerk.json │ │ │ │ │ │ ├── ego_lon_acceleration │ │ │ │ │ │ │ └── ego_lon_acceleration.json │ │ │ │ │ │ ├── ego_lon_jerk │ │ │ │ │ │ │ └── ego_lon_jerk.json │ │ │ │ │ │ ├── ego_mean_speed │ │ │ │ │ │ │ └── ego_mean_speed.json │ │ │ │ │ │ ├── ego_progress_along_expert_route │ │ │ │ │ │ │ ├── ego_drives_backward.json │ │ │ │ │ │ │ ├── ego_no_progress_along_expert_route.json │ │ │ │ │ │ │ ├── ego_no_route.json │ │ │ │ │ │ │ └── ego_progress_along_expert_route.json │ │ │ │ │ │ ├── ego_yaw_acceleration │ │ │ │ │ │ │ └── ego_yaw_acceleration.json │ │ │ │ │ │ ├── ego_yaw_rate │ │ │ │ │ │ │ └── ego_yaw_rate.json │ │ │ │ │ │ ├── no_ego_at_fault_collision │ │ │ │ │ │ │ ├── active_front_collision.json │ │ │ │ │ │ │ ├── active_lateral_collision.json │ │ │ │ │ │ │ ├── active_rear_collision.json │ │ │ │ │ │ │ ├── multiple_collisions.json │ │ │ │ │ │ │ ├── no_collision.json │ │ │ │ │ │ │ ├── stopped_ego_collision.json │ │ │ │ │ │ │ └── stopped_track_collision.json │ │ │ │ │ │ ├── planner_expert_average_heading_error_within_bound │ │ │ │ │ │ │ └── low_average_heading_error.json │ │ │ │ │ │ ├── planner_expert_average_l2_error_within_bound │ │ │ │ │ │ │ └── high_average_l2_error.json │ │ │ │ │ │ ├── planner_expert_final_heading_error_within_bound │ │ │ │ │ │ │ └── low_final_heading_error.json │ │ │ │ │ │ ├── planner_expert_final_l2_error_within_bound │ │ │ │ │ │ │ └── high_final_l2_error.json │ │ │ │ │ │ ├── planner_miss_rate_within_bound │ │ │ │ │ │ │ └── high_miss_rate.json │ │ │ │ │ │ ├── speed_limit_compliance │ │ │ │ │ │ │ ├── no_speed_limit_violation.json │ │ │ │ │ │ │ └── speed_limit_violation.json │ │ │ │ │ │ └── time_to_collision_within_bound │ │ │ │ │ │ │ ├── ego_stopped.json │ │ │ │ │ │ │ ├── in_collision.json │ │ │ │ │ │ │ ├── no_collisions.json │ │ │ │ │ │ │ ├── no_relevant_tracks.json │ │ │ │ │ │ │ └── time_to_collision_above_threshold.json │ │ │ │ │ ├── test_drivable_area_compliance.py │ │ │ │ │ ├── test_driving_direction_compliance.py │ │ │ │ │ ├── test_ego_acceleration.py │ │ │ │ │ ├── test_ego_expert_l2_error.py │ │ │ │ │ ├── test_ego_expert_l2_error_with_yaw.py │ │ │ │ │ ├── test_ego_is_comfortable.py │ │ │ │ │ ├── test_ego_is_making_progress.py │ │ │ │ │ ├── test_ego_jerk.py │ │ │ │ │ ├── test_ego_lane_change.py │ │ │ │ │ ├── test_ego_lat_acceleration.py │ │ │ │ │ ├── test_ego_lat_jerk.py │ │ │ │ │ ├── test_ego_lon_acceleration.py │ │ │ │ │ ├── test_ego_lon_jerk.py │ │ │ │ │ ├── test_ego_mean_speed.py │ │ │ │ │ ├── test_ego_progress_along_expert_route.py │ │ │ │ │ ├── test_ego_yaw_acceleration.py │ │ │ │ │ ├── test_ego_yaw_rate.py │ │ │ │ │ ├── test_no_ego_at_fault_collisions.py │ │ │ │ │ ├── test_planner_expert_average_heading_error_within_bound.py │ │ │ │ │ ├── test_planner_expert_average_l2_error_within_bound.py │ │ │ │ │ ├── test_planner_expert_final_heading_error_within_bound.py │ │ │ │ │ ├── test_planner_expert_final_l2_error_within_bound.py │ │ │ │ │ ├── test_planner_miss_rate_within_bound.py │ │ │ │ │ ├── test_speed_limit_compliance.py │ │ │ │ │ └── test_time_to_collision_within_bound.py │ │ │ │ └── time_to_collision_within_bound.py │ │ │ └── scenario_dependent │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── ego_stop_at_stop_line.py │ │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── json │ │ │ │ └── ego_stop_at_stop_line │ │ │ │ │ └── ego_stop_at_stop_line.json │ │ │ │ └── test_ego_stop_at_stop_line.py │ │ ├── metric_dataframe.py │ │ ├── metric_engine.py │ │ ├── metric_file.py │ │ ├── metric_result.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ └── test_metric_engine.py │ │ └── utils │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── collision_utils.py │ │ │ ├── expert_comparisons.py │ │ │ ├── route_extractor.py │ │ │ ├── state_extractors.py │ │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── json │ │ │ │ └── route_extractor │ │ │ │ │ └── route_extractor.json │ │ │ └── test_route_extractor.py │ │ │ └── testing_utils.py │ ├── nuboard │ │ ├── BUILD │ │ ├── README.md │ │ ├── __init__.py │ │ ├── base │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── base_tab.py │ │ │ ├── data_class.py │ │ │ ├── experiment_file_data.py │ │ │ ├── plot_data.py │ │ │ ├── simulation_tile.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test_base_tab.py │ │ │ │ ├── test_nuboard_file.py │ │ │ │ └── test_simulation_tile.py │ │ ├── nuboard.py │ │ ├── resource │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── css │ │ │ │ ├── cloud.css │ │ │ │ ├── histogram.css │ │ │ │ ├── overview.css │ │ │ │ └── scenario.css │ │ │ ├── motional_logo.png │ │ │ ├── scripts │ │ │ │ └── utils.js │ │ │ ├── spectre-exp.min.css │ │ │ ├── spectre-icons.min.css │ │ │ ├── spectre.min.css │ │ │ └── style.css │ │ ├── style.py │ │ ├── tabs │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── cloud_tab.py │ │ │ ├── config │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── cloud_tab_config.py │ │ │ │ ├── histogram_tab_config.py │ │ │ │ ├── overview_tab_config.py │ │ │ │ └── scenario_tab_config.py │ │ │ ├── configuration_tab.py │ │ │ ├── histogram_tab.py │ │ │ ├── js_code │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── cloud_tab_js_code.py │ │ │ │ ├── histogram_tab_js_code.py │ │ │ │ └── scenario_tab_js_code.py │ │ │ ├── overview_tab.py │ │ │ ├── scenario_tab.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── skeleton_test_tab.py │ │ │ │ ├── test_cloud_tab.py │ │ │ │ ├── test_configuration_tab.py │ │ │ │ ├── test_histogram_tab.py │ │ │ │ ├── test_overview_tab.py │ │ │ │ └── test_scenario_tab.py │ │ ├── templates │ │ │ ├── index.html │ │ │ └── tabs │ │ │ │ ├── cloud.html │ │ │ │ ├── histogram.html │ │ │ │ ├── overview.html │ │ │ │ └── scenario.html │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ └── test_nuboard.py │ │ └── utils │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── nuboard_cloud_utils.py │ │ │ ├── nuboard_histogram_utils.py │ │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── test_nuboard_cloud_utils.py │ │ │ ├── test_nuboard_utils.py │ │ │ └── utils.py │ │ │ └── utils.py │ ├── scenario_builder │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── abstract_scenario.py │ │ ├── abstract_scenario_builder.py │ │ ├── cache │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── cached_scenario.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ └── test_cached_scenario.py │ │ ├── nuplan_db │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── nuplan_scenario.py │ │ │ ├── nuplan_scenario_builder.py │ │ │ ├── nuplan_scenario_filter_utils.py │ │ │ ├── nuplan_scenario_utils.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── nuplan_scenario_test_utils.py │ │ │ │ ├── test_nuplan_scenario.py │ │ │ │ ├── test_nuplan_scenario_builder.py │ │ │ │ ├── test_nuplan_scenario_filter_utils.py │ │ │ │ ├── test_nuplan_scenario_integration.py │ │ │ │ ├── test_nuplan_scenario_utils.py │ │ │ │ └── test_nuplan_scenario_utils_integration.py │ │ ├── scenario_filter.py │ │ ├── scenario_utils.py │ │ └── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── mock_abstract_scenario.py │ │ │ ├── mock_abstract_scenario_builder.py │ │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── test_mock_abstract_scenario.py │ │ │ └── test_mock_abstract_scenario_builder.py │ │ │ └── test_scenario_utils.py │ ├── script │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── builders │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── data_augmentation_builder.py │ │ │ ├── folder_builder.py │ │ │ ├── logging_builder.py │ │ │ ├── lr_scheduler_builder.py │ │ │ ├── main_callback_builder.py │ │ │ ├── metric_aggregator_builder.py │ │ │ ├── metric_builder.py │ │ │ ├── metric_runner_builder.py │ │ │ ├── model_builder.py │ │ │ ├── objectives_builder.py │ │ │ ├── observation_builder.py │ │ │ ├── planner_builder.py │ │ │ ├── scenario_builder.py │ │ │ ├── scenario_building_builder.py │ │ │ ├── scenario_filter_builder.py │ │ │ ├── simulation_builder.py │ │ │ ├── simulation_callback_builder.py │ │ │ ├── simulation_log_builder.py │ │ │ ├── splitter_builder.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test_log.py │ │ │ │ ├── test_lr_scheduler_builder.py │ │ │ │ ├── test_scenario_builder.py │ │ │ │ └── test_simulation_callback_builder.py │ │ │ ├── training_builder.py │ │ │ ├── training_callback_builder.py │ │ │ ├── training_metrics_builder.py │ │ │ ├── utils │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_utils_checkpoint.py │ │ │ │ │ ├── test_utils_config.py │ │ │ │ │ ├── test_utils_config_distributed_training.py │ │ │ │ │ └── test_utils_type.py │ │ │ │ ├── utils_checkpoint.py │ │ │ │ ├── utils_config.py │ │ │ │ └── utils_type.py │ │ │ └── worker_pool_builder.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ ├── common │ │ │ │ ├── __init__.py │ │ │ │ ├── default_common.yaml │ │ │ │ ├── default_experiment.yaml │ │ │ │ ├── default_submission.yaml │ │ │ │ ├── model │ │ │ │ │ ├── raster_model.yaml │ │ │ │ │ ├── simple_vector_model.yaml │ │ │ │ │ ├── urban_driver_open_loop_model.yaml │ │ │ │ │ └── vector_model.yaml │ │ │ │ ├── scenario_builder │ │ │ │ │ ├── mock_abstract_scenario_builder.yaml │ │ │ │ │ ├── nuplan.yaml │ │ │ │ │ ├── nuplan_challenge.yaml │ │ │ │ │ ├── nuplan_mini.yaml │ │ │ │ │ ├── scenario_mapping │ │ │ │ │ │ ├── nuplan_challenge_scenario_mapping.yaml │ │ │ │ │ │ └── nuplan_scenario_mapping.yaml │ │ │ │ │ └── vehicle_parameters │ │ │ │ │ │ └── nuplan_vehicle_parameters.yaml │ │ │ │ ├── scenario_filter │ │ │ │ │ ├── all_scenarios.yaml │ │ │ │ │ ├── closed_loop_few_training_scenario.yaml │ │ │ │ │ ├── few_training_scenarios.yaml │ │ │ │ │ ├── nuplan_challenge_scenarios.yaml │ │ │ │ │ ├── one_continuous_log.yaml │ │ │ │ │ ├── one_hand_picked_scenario.yaml │ │ │ │ │ ├── one_of_each_scenario_type.yaml │ │ │ │ │ ├── one_percent_of_lv_strip_scenarios.yaml │ │ │ │ │ ├── simulation_test_split.yaml │ │ │ │ │ ├── test_scenarios_hard20.yaml │ │ │ │ │ ├── training_scenarios.yaml │ │ │ │ │ └── val14.yaml │ │ │ │ ├── simulation_metric │ │ │ │ │ ├── common_metrics.yaml │ │ │ │ │ ├── default_metrics.yaml │ │ │ │ │ ├── ego_in_stop_line │ │ │ │ │ │ └── ego_stop_at_stop_line_statistics.yaml │ │ │ │ │ ├── high_level │ │ │ │ │ │ ├── drivable_area_compliance_statistics.yaml │ │ │ │ │ │ ├── driving_direction_compliance_statistics.yaml │ │ │ │ │ │ ├── ego_is_comfortable_statistics.yaml │ │ │ │ │ │ ├── ego_is_making_progress_statistics.yaml │ │ │ │ │ │ ├── no_ego_at_fault_collisions_statistics.yaml │ │ │ │ │ │ ├── planner_expert_average_heading_error_within_bound_statistics.yaml │ │ │ │ │ │ ├── planner_expert_final_heading_error_within_bound_statistics.yaml │ │ │ │ │ │ ├── planner_expert_final_l2_error_within_bound_statistics.yaml │ │ │ │ │ │ ├── planner_miss_rate_within_bound_statistics.yaml │ │ │ │ │ │ ├── speed_limit_compliance_statistics.yaml │ │ │ │ │ │ └── time_to_collision_within_bound_statistics.yaml │ │ │ │ │ ├── low_level │ │ │ │ │ │ ├── ego_acceleration_statistics.yaml │ │ │ │ │ │ ├── ego_expert_l2_error_statistics.yaml │ │ │ │ │ │ ├── ego_expert_l2_error_with_yaw_statistics.yaml │ │ │ │ │ │ ├── ego_jerk_statistics.yaml │ │ │ │ │ │ ├── ego_lane_change_statistics.yaml │ │ │ │ │ │ ├── ego_lat_acceleration_statistics.yaml │ │ │ │ │ │ ├── ego_lat_jerk_statistics.yaml │ │ │ │ │ │ ├── ego_lon_acceleration_statistics.yaml │ │ │ │ │ │ ├── ego_lon_jerk_statistics.yaml │ │ │ │ │ │ ├── ego_mean_speed_statistics.yaml │ │ │ │ │ │ ├── ego_progress_along_expert_route_statistics.yaml │ │ │ │ │ │ ├── ego_yaw_acceleration_statistics.yaml │ │ │ │ │ │ ├── ego_yaw_rate_statistics.yaml │ │ │ │ │ │ └── planner_expert_average_l2_error_within_bound_statistics.yaml │ │ │ │ │ ├── simulation_closed_loop_nonreactive_agents.yaml │ │ │ │ │ ├── simulation_closed_loop_reactive_agents.yaml │ │ │ │ │ └── simulation_open_loop_boxes.yaml │ │ │ │ ├── splitter │ │ │ │ │ └── nuplan.yaml │ │ │ │ └── worker │ │ │ │ │ ├── ray_distributed.yaml │ │ │ │ │ ├── sequential.yaml │ │ │ │ │ └── single_machine_thread_pool.yaml │ │ │ ├── nuboard │ │ │ │ ├── __init__.py │ │ │ │ └── default_nuboard.yaml │ │ │ ├── simulation │ │ │ │ ├── __init__.py │ │ │ │ ├── callback │ │ │ │ │ ├── serialization_callback.yaml │ │ │ │ │ ├── simulation_log_callback.yaml │ │ │ │ │ └── timing_callback.yaml │ │ │ │ ├── default_run_metric_aggregator.yaml │ │ │ │ ├── default_simulation.yaml │ │ │ │ ├── default_submission_planner.yaml │ │ │ │ ├── ego_controller │ │ │ │ │ ├── log_play_back_controller.yaml │ │ │ │ │ ├── motion_model │ │ │ │ │ │ └── kinematic_bicycle_model.yaml │ │ │ │ │ ├── perfect_tracking_controller.yaml │ │ │ │ │ ├── tracker │ │ │ │ │ │ ├── ilqr_tracker.yaml │ │ │ │ │ │ └── lqr_tracker.yaml │ │ │ │ │ └── two_stage_controller.yaml │ │ │ │ ├── main_callback │ │ │ │ │ ├── completion_callback.yaml │ │ │ │ │ ├── metric_aggregator_callback.yaml │ │ │ │ │ ├── metric_file_callback.yaml │ │ │ │ │ ├── metric_summary_callback.yaml │ │ │ │ │ ├── publisher_callback.yaml │ │ │ │ │ ├── time_callback.yaml │ │ │ │ │ └── validation_callback.yaml │ │ │ │ ├── metric_aggregator │ │ │ │ │ ├── closed_loop_nonreactive_agents_weighted_average.yaml │ │ │ │ │ ├── closed_loop_reactive_agents_weighted_average.yaml │ │ │ │ │ ├── default_weighted_average.yaml │ │ │ │ │ └── open_loop_boxes_weighted_average.yaml │ │ │ │ ├── observation │ │ │ │ │ ├── box_observation.yaml │ │ │ │ │ ├── ego_centric_ml_agents_observation.yaml │ │ │ │ │ ├── idm_agents_observation.yaml │ │ │ │ │ └── lidar_pc_observation.yaml │ │ │ │ ├── planner │ │ │ │ │ ├── idm_planner.yaml │ │ │ │ │ ├── llama4drive_lora_ins_wo_stop.yaml │ │ │ │ │ ├── llama4drive_lora_ins_wo_stop_refine.yaml │ │ │ │ │ ├── log_future_planner.yaml │ │ │ │ │ ├── ml_planner.yaml │ │ │ │ │ ├── remote_planner.yaml │ │ │ │ │ └── simple_planner.yaml │ │ │ │ ├── predictor │ │ │ │ │ └── log_future_predictor.yaml │ │ │ │ └── simulation_time_controller │ │ │ │ │ └── step_simulation_time_controller.yaml │ │ │ └── training │ │ │ │ ├── __init__.py │ │ │ │ ├── callbacks │ │ │ │ ├── default_callbacks.yaml │ │ │ │ ├── learning_rate_monitor_callback.yaml │ │ │ │ ├── model_checkpoint_callback.yaml │ │ │ │ ├── scenario_scoring_callback.yaml │ │ │ │ ├── time_logging_callback.yaml │ │ │ │ └── visualization_callback.yaml │ │ │ │ ├── data_augmentation │ │ │ │ ├── agent_dropout_augmentation.yaml │ │ │ │ ├── gaussian_smooth_agent_augmentation.yaml │ │ │ │ ├── generic_agent_dropout_augmentation.yaml │ │ │ │ ├── kinematic_agent_augmentation.yaml │ │ │ │ ├── kinematic_history_agent_augmentation.yaml │ │ │ │ ├── kinematic_history_generic_agent_augmentation.yaml │ │ │ │ └── simple_agent_augmentation.yaml │ │ │ │ ├── data_augmentation_scheduler │ │ │ │ ├── default_augmentation_schedulers.yaml │ │ │ │ ├── stepwise_augmentation_attribute_scheduler.yaml │ │ │ │ └── stepwise_augmentation_probability_scheduler.yaml │ │ │ │ ├── data_loader │ │ │ │ └── default_data_loader.yaml │ │ │ │ ├── default_training.yaml │ │ │ │ ├── lightning │ │ │ │ └── default_lightning.yaml │ │ │ │ ├── lr_scheduler │ │ │ │ ├── multistep_lr.yaml │ │ │ │ └── one_cycle_lr.yaml │ │ │ │ ├── objective │ │ │ │ ├── agents_imitation_objective.yaml │ │ │ │ ├── imitation_objective.yaml │ │ │ │ └── trajectory_weight_decay_imitation_objective.yaml │ │ │ │ ├── optimizer │ │ │ │ ├── adam.yaml │ │ │ │ ├── adamw.yaml │ │ │ │ └── sgd.yaml │ │ │ │ ├── scenario_type_weights │ │ │ │ └── default_scenario_type_weights.yaml │ │ │ │ ├── training_metric │ │ │ │ ├── agents_avg_displacement_error.yaml │ │ │ │ ├── agents_avg_heading_error.yaml │ │ │ │ ├── agents_final_displacement_error.yaml │ │ │ │ ├── agents_final_heading_error.yaml │ │ │ │ ├── avg_displacement_error.yaml │ │ │ │ ├── avg_heading_error.yaml │ │ │ │ ├── final_displacement_error.yaml │ │ │ │ └── final_heading_error.yaml │ │ │ │ └── warm_up_lr_scheduler │ │ │ │ ├── constant_warm_up.yaml │ │ │ │ └── linear_warm_up.yaml │ │ ├── experiments │ │ │ ├── __init__.py │ │ │ ├── simulation │ │ │ │ ├── closed_loop_nonreactive_agents.yaml │ │ │ │ ├── closed_loop_reactive_agents.yaml │ │ │ │ ├── open_loop_boxes.yaml │ │ │ │ ├── remote_closed_loop_nonreactive_agents.yaml │ │ │ │ ├── remote_closed_loop_reactive_agents.yaml │ │ │ │ ├── remote_open_loop_boxes.yaml │ │ │ │ └── validation_challenge.yaml │ │ │ └── training │ │ │ │ ├── training_raster_model.yaml │ │ │ │ ├── training_simple_vector_model.yaml │ │ │ │ ├── training_urban_driver_open_loop_model.yaml │ │ │ │ └── training_vector_model.yaml │ │ ├── profiler_context_manager.py │ │ ├── run_metric.py │ │ ├── run_metric_aggregator.py │ │ ├── run_nuboard.py │ │ ├── run_result_processor_aws.py │ │ ├── run_simulation.py │ │ ├── run_submission_planner.py │ │ ├── run_training.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── skeleton_test_simulation.py │ │ │ ├── skeleton_test_train.py │ │ │ ├── test_cache_mocked.py │ │ │ ├── test_cache_nuplandb.py │ │ │ ├── test_config_dataloader.py │ │ │ ├── test_model_build.py │ │ │ ├── test_one_cycle_lr_scheduler.py │ │ │ ├── test_profiling.py │ │ │ ├── test_run_challenge.py │ │ │ ├── test_run_metric.py │ │ │ ├── test_run_metric_aggregator.py │ │ │ ├── test_run_nuboard.py │ │ │ ├── test_run_parallel_worker.py │ │ │ ├── test_run_ray_worker.py │ │ │ ├── test_run_result_processor.py │ │ │ ├── test_run_sequential_worker.py │ │ │ ├── test_run_simulation.py │ │ │ ├── test_run_submission_planner.py │ │ │ ├── test_train_overfitting.py │ │ │ ├── test_train_raster_model.py │ │ │ ├── test_train_urban_driver_open_loop_model.py │ │ │ └── test_train_vector_model.py │ │ └── utils.py │ ├── simulation │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── callback │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_callback.py │ │ │ ├── metric_callback.py │ │ │ ├── multi_callback.py │ │ │ ├── serialization_callback.py │ │ │ ├── simulation_log_callback.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── skeleton_test_serialization_callback.py │ │ │ │ ├── test_metric_callback.py │ │ │ │ ├── test_serialization_callback_json.py │ │ │ │ ├── test_serialization_callback_msgpack.py │ │ │ │ ├── test_serialization_callback_pickle.py │ │ │ │ ├── test_simulation_log.py │ │ │ │ ├── test_simulation_log_callback.py │ │ │ │ ├── test_timing_callback.py │ │ │ │ └── test_visualization_callback.py │ │ │ ├── timing_callback.py │ │ │ └── visualization_callback.py │ │ ├── controller │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_controller.py │ │ │ ├── log_playback.py │ │ │ ├── motion_model │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract_motion_model.py │ │ │ │ ├── kinematic_bicycle.py │ │ │ │ └── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── test_kinematic_motion_model.py │ │ │ ├── perfect_tracking.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test_log_playback.py │ │ │ │ ├── test_perfect_tracking.py │ │ │ │ └── test_utils.py │ │ │ ├── tracker │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract_tracker.py │ │ │ │ ├── ilqr │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── ilqr_solver.py │ │ │ │ │ └── test │ │ │ │ │ │ ├── BUILD │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── test_ilqr_solver.py │ │ │ │ ├── ilqr_tracker.py │ │ │ │ ├── lqr.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_ilqr_tracker.py │ │ │ │ │ ├── test_lqr_tracker.py │ │ │ │ │ └── test_tracker_utils.py │ │ │ │ └── tracker_utils.py │ │ │ ├── two_stage_controller.py │ │ │ └── utils.py │ │ ├── history │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── simulation_history.py │ │ │ ├── simulation_history_buffer.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test_simulation_history.py │ │ │ │ └── test_simulation_history_buffer.py │ │ ├── main_callback │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_main_callback.py │ │ │ ├── completion_callback.py │ │ │ ├── metric_aggregator_callback.py │ │ │ ├── metric_file_callback.py │ │ │ ├── metric_summary_callback.py │ │ │ ├── multi_main_callback.py │ │ │ ├── publisher_callback.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test_completion_callback.py │ │ │ │ ├── test_metric_aggregator_callback.py │ │ │ │ ├── test_metric_file_callback.py │ │ │ │ ├── test_metric_summary_callback.py │ │ │ │ ├── test_publisher_callback.py │ │ │ │ └── test_validation_callback.py │ │ │ ├── time_callback.py │ │ │ └── validation_callback.py │ │ ├── observation │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_ml_agents.py │ │ │ ├── abstract_observation.py │ │ │ ├── ego_centric_ml_agents.py │ │ │ ├── idm │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── idm_agent.py │ │ │ │ ├── idm_agent_manager.py │ │ │ │ ├── idm_agents_builder.py │ │ │ │ ├── idm_policy.py │ │ │ │ ├── idm_states.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── json │ │ │ │ │ │ ├── idm_agent_observation │ │ │ │ │ │ │ └── baseline.json │ │ │ │ │ │ └── idm_manager │ │ │ │ │ │ │ ├── baseline.json │ │ │ │ │ │ │ ├── green_traffic_lights.json │ │ │ │ │ │ │ ├── merging.json │ │ │ │ │ │ │ ├── red_traffic_lights.json │ │ │ │ │ │ │ └── red_traffic_lights_not_intersection.json │ │ │ │ │ ├── test_idm_agents_observation.py │ │ │ │ │ ├── test_idm_manager.py │ │ │ │ │ ├── test_idm_policy.py │ │ │ │ │ ├── test_profile_idm_observation.py │ │ │ │ │ ├── test_utils.py │ │ │ │ │ └── utils.py │ │ │ │ └── utils.py │ │ │ ├── idm_agents.py │ │ │ ├── lidar_pc.py │ │ │ ├── observation_type.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ └── test_ego_centric_ml_agents.py │ │ │ └── tracks_observation.py │ │ ├── occupancy_map │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_occupancy_map.py │ │ │ ├── geopandas_occupancy_map.py │ │ │ ├── strtree_occupancy_map.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ └── test_occupancy_map.py │ │ ├── path │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── interpolated_path.py │ │ │ ├── path.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ └── test_path.py │ │ │ └── utils.py │ │ ├── planner │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_idm_planner.py │ │ │ ├── abstract_planner.py │ │ │ ├── idm_planner.py │ │ │ ├── log_future_planner.py │ │ │ ├── ml_planner │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── ml_planner.py │ │ │ │ ├── model_loader.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_ml_planner.py │ │ │ │ │ └── test_transform_utils.py │ │ │ │ └── transform_utils.py │ │ │ ├── planner_report.py │ │ │ ├── remote_planner.py │ │ │ ├── simple_planner.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── mock_idm_planner.py │ │ │ │ ├── test_abstract_idm_planner.py │ │ │ │ ├── test_idm_planner.py │ │ │ │ ├── test_log_future_planner.py │ │ │ │ └── test_remote_planner.py │ │ │ └── utils │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── breadth_first_search.py │ │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ └── test_breadth_first_search.py │ │ ├── predictor │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_predictor.py │ │ │ ├── log_future_predictor.py │ │ │ ├── predictor_report.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── mock_abstract_predictor.py │ │ │ │ ├── test_abstract_predictor.py │ │ │ │ └── test_log_future_predictor.py │ │ ├── runner │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_runner.py │ │ │ ├── executor.py │ │ │ ├── metric_runner.py │ │ │ ├── runner_report.py │ │ │ ├── simulations_runner.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ └── test_metric_runner.py │ │ ├── simulation.py │ │ ├── simulation_log.py │ │ ├── simulation_setup.py │ │ ├── simulation_time_controller │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_simulation_time_controller.py │ │ │ ├── simulation_iteration.py │ │ │ └── step_simulation_time_controller.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ └── test_simulation.py │ │ ├── trajectory │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_trajectory.py │ │ │ ├── interpolated_trajectory.py │ │ │ ├── predicted_trajectory.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test_interpolated_trajectory.py │ │ │ │ └── test_trajectory_sampling.py │ │ │ └── trajectory_sampling.py │ │ └── visualization │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ └── abstract_visualization.py │ ├── training │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── callbacks │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── checkpoint_callback.py │ │ │ ├── profile_callback.py │ │ │ ├── scenario_scoring_callback.py │ │ │ ├── stepwise_augmentation_scheduler.py │ │ │ ├── time_logging_callback.py │ │ │ ├── utils │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── scenario_scene_converter.py │ │ │ │ ├── scene_converter.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_scenario_scoring_callback.py │ │ │ │ │ ├── test_stepwise_augmentation_scheduler.py │ │ │ │ │ └── test_visualization_utils.py │ │ │ │ └── visualization_utils.py │ │ │ ├── validate_setup_callback.py │ │ │ └── visualization_callback.py │ │ ├── data_augmentation │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_data_augmentation.py │ │ │ ├── agent_dropout_augmentation.py │ │ │ ├── data_augmentation_util.py │ │ │ ├── gaussian_smooth_agent_augmentation.py │ │ │ ├── generic_agent_dropout_augmentation.py │ │ │ ├── kinematic_agent_augmentation.py │ │ │ ├── kinematic_history_agent_augmentation.py │ │ │ ├── kinematic_history_generic_agent_augmentation.py │ │ │ ├── simple_agent_augmentation.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test_agent_dropout_augmentation.py │ │ │ │ ├── test_gaussian_smooth_agent_augmentation.py │ │ │ │ ├── test_generic_agent_dropout_augmentation.py │ │ │ │ ├── test_kinematic_agent_augmentation.py │ │ │ │ ├── test_kinematic_history_agent_augmentation.py │ │ │ │ ├── test_kinematic_history_generic_agent_augmentation.py │ │ │ │ └── test_simple_agent_augmentation.py │ │ ├── data_loader │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── datamodule.py │ │ │ ├── distributed_sampler_wrapper.py │ │ │ ├── log_splitter.py │ │ │ ├── scenario_dataset.py │ │ │ ├── splitter.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── skeleton_test_dataloader.py │ │ │ │ ├── test_dataloader_ray.py │ │ │ │ ├── test_dataloader_sequential.py │ │ │ │ ├── test_distributed_sampler_wrapper.py │ │ │ │ └── test_distributed_weighted_sampler_init.py │ │ ├── experiments │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── cache_metadata_entry.py │ │ │ ├── caching.py │ │ │ └── training.py │ │ ├── modeling │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── lightning_module_wrapper.py │ │ │ ├── metrics │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract_training_metric.py │ │ │ │ ├── agents_imitation_metrics.py │ │ │ │ └── planning_metrics.py │ │ │ ├── models │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── dynamics_layers │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── abstract_dynamics.py │ │ │ │ │ ├── deep_dynamical_system_layer.py │ │ │ │ │ ├── kinematic_bicycle_layer_geometric_center.py │ │ │ │ │ ├── kinematic_bicycle_layer_rear_axle.py │ │ │ │ │ ├── kinematic_bicycle_layers_utils.py │ │ │ │ │ ├── kinematic_unicycle_layer_rear_axle.py │ │ │ │ │ ├── kinematic_unicycle_layers_utils.py │ │ │ │ │ └── test │ │ │ │ │ │ ├── BUILD │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── test_deep_dynamical_system_layer.py │ │ │ │ │ │ ├── test_kinematic_bicycle_layers_utils.py │ │ │ │ │ │ └── test_kinematic_unicycle_layers_utils.py │ │ │ │ ├── lanegcn_model.py │ │ │ │ ├── lanegcn_utils.py │ │ │ │ ├── raster_model.py │ │ │ │ ├── simple_vector_map_model.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_lanegcn.py │ │ │ │ │ ├── test_simple_vector_map_model.py │ │ │ │ │ └── test_urban_driver_open_loop_model.py │ │ │ │ ├── urban_driver_open_loop_model.py │ │ │ │ └── urban_driver_open_loop_model_utils.py │ │ │ ├── objectives │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract_objective.py │ │ │ │ ├── agents_imitation_objective.py │ │ │ │ ├── imitation_objective.py │ │ │ │ ├── scenario_weight_utils.py │ │ │ │ ├── test │ │ │ │ │ ├── BUILD │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_agents_imitation_objective.py │ │ │ │ │ ├── test_imitation_objective.py │ │ │ │ │ └── test_trajectory_weight_decay_imitation_objective.py │ │ │ │ └── trajectory_weight_decay_imitation_objective.py │ │ │ ├── scriptable_torch_module_wrapper.py │ │ │ ├── torch_module_wrapper.py │ │ │ └── types.py │ │ └── preprocessing │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── feature_builders │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_feature_builder.py │ │ │ ├── agents_feature_builder.py │ │ │ ├── generic_agents_feature_builder.py │ │ │ ├── raster_feature_builder.py │ │ │ ├── scriptable_feature_builder.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── mock_feature_utils.py │ │ │ │ ├── test_agents_feature_builder.py │ │ │ │ ├── test_generic_agents_feature_builder.py │ │ │ │ ├── test_vector_building.py │ │ │ │ ├── test_vector_map_feature_builder.py │ │ │ │ ├── test_vector_map_feature_builder_lane_metadata.py │ │ │ │ └── test_vector_set_map_feature_builder.py │ │ │ ├── vector_builder_utils.py │ │ │ ├── vector_map_feature_builder.py │ │ │ └── vector_set_map_feature_builder.py │ │ │ ├── feature_collate.py │ │ │ ├── feature_preprocessor.py │ │ │ ├── features │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_model_feature.py │ │ │ ├── agents.py │ │ │ ├── agents_trajectories.py │ │ │ ├── generic_agents.py │ │ │ ├── raster.py │ │ │ ├── raster_utils.py │ │ │ ├── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── test_agents.py │ │ │ │ ├── test_generic_agents.py │ │ │ │ ├── test_raster_building.py │ │ │ │ ├── test_trajectories.py │ │ │ │ ├── test_trajectory.py │ │ │ │ ├── test_vector_set_map.py │ │ │ │ └── test_vector_utils.py │ │ │ ├── trajectories.py │ │ │ ├── trajectory.py │ │ │ ├── trajectory_utils.py │ │ │ ├── vector_map.py │ │ │ ├── vector_set_map.py │ │ │ └── vector_utils.py │ │ │ ├── target_builders │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── abstract_target_builder.py │ │ │ ├── ego_trajectory_target_builder.py │ │ │ └── test │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ └── test_ego_trajectory_target_builder.py │ │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── dummy_vectormap_builder.py │ │ │ ├── test_collate.py │ │ │ ├── test_collate_dataloader.py │ │ │ ├── test_feature_preprocessor.py │ │ │ └── test_utils_cache.py │ │ │ └── utils │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── agents_preprocessing.py │ │ │ ├── feature_cache.py │ │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── test_agent_processing.py │ │ │ └── test_vector_preprocessing.py │ │ │ ├── utils_cache.py │ │ │ ├── utils_scene.py │ │ │ └── vector_preprocessing.py │ └── utils │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── color.py │ │ ├── lr_schedulers │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── sequential_lr_scheduler.py │ │ └── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ └── test_sequential_lr_scheduler.py │ │ ├── multithreading │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── ray_execution.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── test_ray_worker.py │ │ │ ├── test_splitter.py │ │ │ ├── test_worker_pool.py │ │ │ └── test_workers_square_numbers_task.py │ │ ├── worker_parallel.py │ │ ├── worker_pool.py │ │ ├── worker_ray.py │ │ ├── worker_sequential.py │ │ └── worker_utils.py │ │ ├── serialization │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── from_scene.py │ │ ├── scene.py │ │ ├── scene_simple_trajectory.py │ │ ├── test │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── json │ │ │ │ └── load_from_scene.json │ │ │ ├── test_from_scene_tracked_objects.py │ │ │ ├── test_scene_simple_trajectory.py │ │ │ ├── test_scene_trajectory.py │ │ │ ├── test_scene_trajectory_state.py │ │ │ └── test_to_scene.py │ │ └── to_scene.py │ │ └── test │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── test_color.py │ │ └── test_scene_color.py └── submission │ ├── BUILD │ ├── __init__.py │ ├── challenge_pb2.py │ ├── challenge_pb2_grpc.py │ ├── challenge_servicers.py │ ├── evalai │ ├── BUILD │ ├── __init__.py │ ├── evalai_interface.py │ ├── leaderboard_writer.py │ └── test │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── test_evalai_interface.py │ │ └── test_leaderboard_writer.py │ ├── proto_converters.py │ ├── protos │ └── challenge.proto │ ├── submission_container.py │ ├── submission_container_factory.py │ ├── submission_container_manager.py │ ├── submission_planner.py │ ├── test │ ├── BUILD │ ├── __init__.py │ ├── test_challenge_servicers.py │ ├── test_proto_converters.py │ ├── test_submission_container.py │ ├── test_submission_container_factory.py │ ├── test_submission_container_manager.py │ ├── test_submission_planner.py │ └── test_utils.py │ ├── utils │ ├── BUILD │ ├── __init__.py │ ├── aws_utils.py │ ├── test │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── test_aws_utils.py │ │ └── test_utils.py │ └── utils.py │ ├── validate_submission.py │ └── validators │ ├── BUILD │ ├── __init__.py │ ├── abstract_submission_validator.py │ ├── base_submission_validator.py │ ├── image_exists_validator.py │ ├── image_is_runnable_validator.py │ ├── submission_computes_trajectory_validator.py │ └── test │ ├── BUILD │ ├── __init__.py │ ├── test_base_submission_validator.py │ ├── test_image_exists_validator.py │ ├── test_image_is_runnable_validator.py │ └── test_submission_computes_trajectory_validator.py ├── nuplan_garage ├── __init__.py └── planning │ ├── __init__.py │ ├── script │ ├── __init__.py │ └── config │ │ ├── common │ │ ├── __init__.py │ │ ├── model │ │ │ ├── gc_pgp_model.yaml │ │ │ ├── pdm_offset_model.yaml │ │ │ └── pdm_open_model.yaml │ │ └── scenario_filter │ │ │ ├── reduced_val14_split.yaml │ │ │ ├── train150k_split.yaml │ │ │ └── val14_split.yaml │ │ ├── simulation │ │ ├── __init__.py │ │ └── planner │ │ │ ├── pdm_closed_planner.yaml │ │ │ ├── pdm_hybrid_planner.yaml │ │ │ └── pdm_open_planner.yaml │ │ └── training │ │ ├── __init__.py │ │ ├── data_augmentation │ │ ├── pgp_agent_dropout_augmentation.yaml │ │ ├── pgp_ego_history_dropout_augmentation.yaml │ │ └── pgp_kinematic_agent_augmentation.yaml │ │ ├── objective │ │ ├── l1_objective.yaml │ │ ├── pgp_minADE_objective.yaml │ │ └── pgp_traversal_objective.yaml │ │ └── training_metric │ │ ├── min_avg_displacement_error.yaml │ │ └── min_final_displacement_error.yaml │ ├── simulation │ ├── __init__.py │ └── planner │ │ ├── __init__.py │ │ └── pdm_planner │ │ ├── abstract_pdm_closed_planner.py │ │ ├── abstract_pdm_planner.py │ │ ├── observation │ │ ├── pdm_object_manager.py │ │ ├── pdm_observation.py │ │ ├── pdm_observation_utils.py │ │ └── pdm_occupancy_map.py │ │ ├── pdm_closed_planner.py │ │ ├── pdm_hybrid_planner.py │ │ ├── pdm_open_planner.py │ │ ├── proposal │ │ ├── batch_idm_policy.py │ │ ├── pdm_generator.py │ │ └── pdm_proposal.py │ │ ├── scoring │ │ ├── llm_scorer.py │ │ ├── pdm_comfort_metrics.py │ │ ├── pdm_scorer.py │ │ └── pdm_scorer_utils.py │ │ ├── simulation │ │ ├── batch_kinematic_bicycle.py │ │ ├── batch_lqr.py │ │ ├── batch_lqr_utils.py │ │ └── pdm_simulator.py │ │ └── utils │ │ ├── graph_search │ │ ├── bfs_roadblock.py │ │ └── dijkstra.py │ │ ├── pdm_array_representation.py │ │ ├── pdm_emergency_brake.py │ │ ├── pdm_enums.py │ │ ├── pdm_feature_utils.py │ │ ├── pdm_geometry_utils.py │ │ ├── pdm_path.py │ │ └── route_utils.py │ └── training │ ├── __init__.py │ ├── data_augmentation │ └── pgp │ │ ├── __init__.py │ │ ├── pgp_agent_dropout_augmentation.py │ │ ├── pgp_ego_history_dropout_augmentation.py │ │ └── pgp_kinematic_agent_augmentation.py │ ├── modeling │ ├── __init__.py │ ├── metrics │ │ └── prediction_metrics.py │ ├── models │ │ ├── pdm_offset_model.py │ │ ├── pdm_open_model.py │ │ └── pgp │ │ │ ├── PGP_DESCRIPTION.md │ │ │ ├── pgp_aggregator.py │ │ │ ├── pgp_decoder.py │ │ │ ├── pgp_encoder.py │ │ │ ├── pgp_model.py │ │ │ └── utils.py │ └── objectives │ │ ├── l1_objective.py │ │ ├── pgp_minADE_objective.py │ │ └── pgp_traversal_objective.py │ └── preprocessing │ ├── __init__.py │ ├── feature_builders │ ├── pdm_feature_builder.py │ ├── pgp │ │ ├── pgp_ego_agents_feature_builder.py │ │ ├── pgp_feature_builder.py │ │ ├── pgp_graph_map_feature_builder.py │ │ └── pgp_graph_map_feature_builder_utils.py │ └── route_utils.py │ ├── features │ ├── pdm_feature.py │ ├── pgp │ │ ├── pgp_agent_node_masks.py │ │ ├── pgp_ego_agents.py │ │ ├── pgp_features.py │ │ ├── pgp_graph_map.py │ │ ├── pgp_targets.py │ │ └── pgp_traversals.py │ └── trajectories_multimodal.py │ └── target_builders │ └── multimodal_trajectories_target_builder.py ├── requirements.txt 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