├── .flake8 ├── .github ├── ISSUE_TEMPLATE │ └── ISSUE_TEMPLATE_1.md ├── pull_request_template.md └── workflows │ ├── doc.yml │ └── style.yml ├── .gitignore ├── .style.yapf ├── CHANGELOG ├── LICENSE ├── README.md ├── cloc.sh ├── core ├── __init__.py ├── data │ ├── __init__.py │ ├── base_collector.py │ ├── benchmark │ │ ├── __init__.py │ │ ├── benchmark_utils.py │ │ ├── carla100 │ │ │ ├── 084 │ │ │ │ ├── nocrash_Town01.txt │ │ │ │ └── nocrash_Town02.txt │ │ │ ├── 096 │ │ │ │ ├── nocrash_Town01.txt │ │ │ │ └── nocrash_Town02.txt │ │ │ └── 099 │ │ │ │ ├── nocrash_Town01.txt │ │ │ │ └── nocrash_Town02.txt │ │ └── corl2017 │ │ │ ├── 084 │ │ │ ├── full_Town01.txt │ │ │ ├── full_Town02.txt │ │ │ ├── straight_Town01.txt │ │ │ ├── straight_Town02.txt │ │ │ ├── turn_Town01.txt │ │ │ └── turn_Town02.txt │ │ │ ├── 096 │ │ │ ├── full_Town01.txt │ │ │ ├── full_Town02.txt │ │ │ ├── straight_Town01.txt │ │ │ ├── straight_Town02.txt │ │ │ ├── turn_Town01.txt │ │ │ └── turn_Town02.txt │ │ │ └── 099 │ │ │ ├── changelane_Town04.txt │ │ │ ├── full_Town01.txt │ │ │ ├── full_Town02.txt │ │ │ ├── full_Town04.txt │ │ │ ├── straight_Town01.txt │ │ │ ├── straight_Town02.txt │ │ │ ├── straight_Town04.txt │ │ │ ├── turn_Town01.txt │ │ │ └── turn_Town02.txt │ ├── benchmark_dataset_saver.py │ ├── bev_vae_dataset.py │ ├── carla_benchmark_collector.py │ ├── casezoo │ │ ├── configs │ │ │ ├── no_scenarios.json │ │ │ ├── route01.json │ │ │ ├── route02.json │ │ │ ├── route03.json │ │ │ ├── route04.json │ │ │ ├── route06.json │ │ │ ├── route07.json │ │ │ ├── route08.json │ │ │ ├── route09.json │ │ │ ├── town03_1.json │ │ │ ├── town03_junctions01.json │ │ │ ├── town03_junctions02.json │ │ │ ├── town03_junctions03.json │ │ │ ├── town04_1.json │ │ │ ├── town04_junctions01.json │ │ │ ├── town04_junctions02.json │ │ │ ├── town04_junctions03.json │ │ │ ├── town05_junctions01.json │ │ │ ├── town05_junctions02.json │ │ │ └── town05_junctions03.json │ │ ├── example │ │ │ ├── ChangeLane.xml │ │ │ ├── ControlLoss.xml │ │ │ ├── CutIn.xml │ │ │ ├── LeadingVehicle.xml │ │ │ ├── OppositeDirection.xml │ │ │ ├── SignalizedJunctionLeftTurn.xml │ │ │ ├── SignalizedJunctionRightTurn.xml │ │ │ └── SignalizedJunctionStraight.xml │ │ └── routes │ │ │ ├── route01.xml │ │ │ ├── route02.xml │ │ │ ├── route03.xml │ │ │ ├── route04.xml │ │ │ ├── route06.xml │ │ │ ├── route07.xml │ │ │ ├── route08.xml │ │ │ ├── route09.xml │ │ │ ├── town03_1.xml │ │ │ ├── town03_junctions01.xml │ │ │ ├── town03_junctions02.xml │ │ │ ├── town03_junctions03.xml │ │ │ ├── town04_1.xml │ │ │ ├── town04_junctions01.xml │ │ │ ├── town04_junctions02.xml │ │ │ ├── town04_junctions03.xml │ │ │ ├── town05_junctions01.xml │ │ │ ├── town05_junctions02.xml │ │ │ └── town05_junctions03.xml │ ├── cict_dataset.py │ ├── cilrs_dataset.py │ ├── lbc_dataset.py │ └── srunner │ │ ├── all_towns_traffic_scenarios.json │ │ ├── all_towns_traffic_scenarios1_3_4.json │ │ ├── all_towns_traffic_scenarios1_3_4_8.json │ │ ├── no_scenarios.json │ │ ├── routes_debug.xml │ │ ├── routes_devtest.xml │ │ └── routes_training.xml ├── envs │ ├── __init__.py │ ├── base_drive_env.py │ ├── drive_env_wrapper.py │ ├── md_macro_env.py │ ├── md_traj_env.py │ ├── scenario_carla_env.py │ └── simple_carla_env.py ├── eval │ ├── __init__.py │ ├── base_evaluator.py │ ├── carla_benchmark_evaluator.py │ ├── serial_evaluator.py │ └── single_carla_evaluator.py ├── models │ ├── __init__.py │ ├── bev_speed_model.py │ ├── cilrs_model.py │ ├── common_model.py │ ├── lbc_model.py │ ├── model_wrappers.py │ ├── mpc_controller.py │ ├── pid_controller.py │ ├── vae_model.py │ └── vehicle_controller.py ├── policy │ ├── __init__.py │ ├── auto_policy.py │ ├── base_carla_policy.py │ ├── cilrs_policy.py │ ├── lbc_policy.py │ └── traj_policy │ │ ├── control_decoder.py │ │ ├── traj_ppo.py │ │ └── traj_vac.py ├── simulators │ ├── __init__.py │ ├── base_simulator.py │ ├── carla_data_provider.py │ ├── carla_scenario_simulator.py │ ├── carla_simulator.py │ ├── fake_simulator.py │ └── srunner │ │ ├── __init__.py │ │ ├── scenarioconfigs │ │ ├── __init__.py │ │ ├── openscenario_configuration.py │ │ ├── route_scenario_configuration.py │ │ └── scenario_configuration.py │ │ ├── scenariomanager │ │ ├── __init__.py │ │ ├── actorcontrols │ │ │ ├── __init__.py │ │ │ ├── actor_control.py │ │ │ ├── basic_control.py │ │ │ ├── external_control.py │ │ │ ├── npc_vehicle_control.py │ │ │ ├── pedestrian_control.py │ │ │ ├── simple_vehicle_control.py │ │ │ └── vehicle_longitudinal_control.py │ │ ├── result_writer.py │ │ ├── scenario_manager.py │ │ ├── scenarioatomics │ │ │ ├── __init__.py │ │ │ ├── atomic_behaviors.py │ │ │ ├── atomic_criteria.py │ │ │ └── atomic_trigger_conditions.py │ │ ├── timer.py │ │ ├── traffic_events.py │ │ ├── watchdog.py │ │ └── weather_sim.py │ │ ├── scenarios │ │ ├── __init__.py │ │ ├── basic_scenario.py │ │ ├── change_lane.py │ │ ├── control_loss.py │ │ ├── control_loss_new.py │ │ ├── cut_in.py │ │ ├── cut_in_new.py │ │ ├── follow_leading_vehicle.py │ │ ├── follow_leading_vehicle_new.py │ │ ├── junction_crossing_route.py │ │ ├── maneuver_opposite_direction.py │ │ ├── no_signal_junction_crossing.py │ │ ├── object_crash_intersection.py │ │ ├── object_crash_vehicle.py │ │ ├── opposite_direction.py │ │ ├── other_leading_vehicle.py │ │ ├── route_scenario.py │ │ ├── signalized_junction_left_turn.py │ │ ├── signalized_junction_right_turn.py │ │ └── signalized_junction_straight.py │ │ └── tools │ │ ├── __init__.py │ │ ├── openscenario_parser.py │ │ ├── py_trees_port.py │ │ ├── route_manipulation.py │ │ ├── route_parser.py │ │ ├── scenario_helper.py │ │ └── scenario_parser.py └── utils │ ├── __init__.py │ ├── data_utils │ ├── __init__.py │ ├── augmenter.py │ ├── bev_utils.py │ ├── coil_sampler.py │ ├── data_writter.py │ └── splitter.py │ ├── env_utils │ ├── __init__.py │ └── stuck_detector.py │ ├── learner_utils │ ├── __init__.py │ ├── log_saver_utils.py │ ├── loss_utils.py │ └── optim_utils.py │ ├── model_utils │ ├── __init__.py │ ├── common.py │ └── resnet.py │ ├── others │ ├── __init__.py │ ├── checkpoint_helper.py │ ├── ding_utils.py │ ├── general_helper.py │ ├── image_helper.py │ ├── tcp_helper.py │ └── visualizer.py │ ├── planner │ ├── __init__.py │ ├── basic_planner.py │ ├── behavior_planner.py │ ├── lbc_planner.py │ └── planner_utils.py │ └── simulator_utils │ ├── __init__.py │ ├── carla_agents │ ├── __init__.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 │ │ ├── roaming_agent.py │ │ └── types_behavior.py │ └── tools │ │ ├── __init__.py │ │ └── misc.py │ ├── carla_utils.py │ ├── map_utils.py │ ├── md_utils │ ├── agent_manager_utils.py │ ├── discrete_policy.py │ ├── engine_utils.py │ ├── evaluator_utils.py │ ├── idm_policy_utils.py │ ├── macro_policy.py │ ├── map_manager_utils.py │ ├── navigation_utils.py │ ├── traffic_manager_utils.py │ ├── traj_policy.py │ └── vehicle_utils.py │ └── sensor_utils.py ├── demo ├── auto_run │ ├── auto_eval.py │ ├── auto_run.py │ └── auto_run_case.py ├── cict │ ├── .gitignore │ ├── camera │ │ ├── basic_tools.py │ │ ├── coordinate_transformation.py │ │ └── parameters.py │ ├── cict_datasaver.py │ ├── cict_eval.py │ ├── cict_eval_GAN.py │ ├── cict_eval_traj.py │ ├── cict_model.py │ ├── cict_policy.py │ ├── cict_test.py │ ├── cict_train_GAN.py │ ├── cict_train_traj.py │ ├── collect_data.py │ ├── collect_pm.py │ └── post.py ├── cilrs │ ├── cilrs_collect_data.py │ ├── cilrs_env_wrapper.py │ ├── cilrs_eval.py │ ├── cilrs_test.py │ └── cilrs_train.py ├── drex │ ├── test_render.py │ ├── train_drex_model.py │ ├── train_ppo.py │ └── train_ppo_drex.py ├── implicit │ ├── carla_env.py │ ├── collect_data.py │ ├── dataset.py │ ├── eval.py │ ├── eval_policy.py │ ├── models.py │ ├── train_rl.py │ ├── train_sl.py │ └── utils.py ├── latent_rl │ ├── collect_data.py │ ├── latent_dqn_eval.py │ ├── latent_dqn_test.py │ ├── latent_dqn_train.py │ ├── latent_rl_env.py │ ├── model.py │ └── train_vae.py ├── lbc │ ├── lbc_bev_eval.py │ ├── lbc_bev_test.py │ ├── lbc_birdview_train.py │ ├── lbc_collect_data.py │ ├── lbc_env_wrapper.py │ ├── lbc_image_eval.py │ ├── lbc_image_test.py │ ├── lbc_img_train_phase0.py │ └── lbc_img_train_phase1.py ├── metadrive │ ├── basic_env_train.py │ ├── macro_env_demo.py │ ├── macro_env_dqn_eval.py │ ├── macro_env_dqn_train.py │ ├── macro_env_ppo_eval.py │ ├── macro_env_ppo_train.py │ ├── macro_env_test.py │ ├── macro_env_train.py │ ├── model.py │ ├── tdv_ppo_train.py │ └── tdv_sac_train.py └── simple_rl │ ├── config │ ├── ddpg_config.py │ ├── dqn_config.py │ ├── ppo_config.py │ ├── sac_config.py │ └── td3_config.py │ ├── env_wrapper.py │ ├── model.py │ ├── simple_rl_eval.py │ ├── simple_rl_test.py │ └── simple_rl_train.py ├── docs ├── .gitignore ├── Makefile ├── casezoo_instruction.md ├── figs │ ├── auto_run_bev.png │ ├── auto_run_rgb.png │ ├── big_cam_auto.png │ ├── changelane.png │ ├── cict_1.png │ ├── controlloss.png │ ├── cutin.png │ ├── di-drive_banner.png │ ├── di-drive_logo.png │ ├── dqn_demo1.gif │ ├── dqn_demo2.gif │ ├── dqn_demo3.gif │ ├── dqn_demo4.gif │ ├── drex_complete_ratio.png │ ├── drex_reward_mean.png │ ├── drex_success_ratio.png │ ├── follow.png │ ├── icon.png │ ├── icon_2.png │ ├── image-cilrs_1.png │ ├── image-cilrs_2.png │ ├── image-il_1.png │ ├── image-il_2.png │ ├── image-il_3.png │ ├── image-lbc_1.png │ ├── implicit1.png │ ├── implicit2.png │ ├── installation_1.png │ ├── installation_2.png │ ├── left.png │ ├── macro_demo1.gif │ ├── opposite.png │ ├── policy_mode.png │ ├── qr.png │ ├── result_GAN.png │ ├── right.png │ ├── rl_tutorial_log.png │ ├── rl_tutorial_tb.png │ ├── roadmaps.png │ ├── route01.png │ ├── route02.png │ ├── route03.png │ ├── route04.png │ ├── route06.png │ ├── route07.png │ ├── route08.png │ ├── route09.png │ ├── straight.png │ ├── town03_1.png │ ├── town03_junctions01.png │ ├── town03_junctions02.png │ ├── town03_junctions03.png │ ├── town04_junctions01.png │ ├── town04_junctions02.png │ ├── town04_junctions03.png │ ├── town05_junctions01.png │ ├── town05_junctions02.png │ ├── town05_junctions03.png │ └── weathers.png └── source │ ├── api_doc │ ├── data.rst │ ├── envs.rst │ ├── eval.rst │ ├── index.rst │ ├── models.rst │ ├── policy.rst │ ├── simulators.rst │ └── utils.rst │ ├── conf.py │ ├── faq │ └── index.rst │ ├── features │ ├── carla_benchmark.rst │ ├── casezoo.rst │ ├── datasets.rst │ ├── index.rst │ ├── policy_feature.rst │ ├── simulator_feature.rst │ └── visualize.rst │ ├── index.rst │ ├── installation │ └── index.rst │ ├── model_zoo │ ├── cict.rst │ ├── cilrs.rst │ ├── drex.rst │ ├── implicit.rst │ ├── index.rst │ ├── latent_rl.rst │ ├── lbc.rst │ ├── md_macro.rst │ └── simple_rl.rst │ └── tutorial │ ├── auto_run.rst │ ├── carla_tutorial.rst │ ├── core_concepts.rst │ ├── il_tutorial.rst │ ├── index.rst │ 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