├── .gitignore ├── LICENSE ├── README.md ├── duckietown_il ├── README.md ├── _loggers.py ├── keras │ ├── eval_keras.py │ ├── model_keras.py │ ├── train_keras.py │ └── trained_models │ │ └── __init__.py ├── log.py ├── maps │ ├── loop_empty.yaml │ ├── small_loop.yaml │ └── zigzag_dists.yaml └── tf │ ├── eval_tf.py │ ├── model_tf.py │ ├── train_tf.py │ └── trained_models │ └── __init__.py ├── duckietown_rl ├── README.md ├── __init__.py ├── args.py ├── ddpg.py ├── env.py ├── gym_duckietown │ ├── __init__.py │ ├── collision.py │ ├── config.py │ ├── distortion.py │ ├── envs │ │ ├── __init__.py │ │ ├── duckiebot_env.py │ │ ├── duckietown_env.py │ │ └── multimap_env.py │ ├── generate_topdown_png.py │ ├── graphics.py │ ├── launcher.py │ ├── maps │ │ ├── 4way.yaml │ │ ├── calibration_map.yaml │ │ ├── loop_dyn_duckiebots.yaml │ │ ├── loop_empty.yaml │ │ ├── loop_obstacles.yaml │ │ ├── loop_pedestrians.yaml │ │ ├── regress_4way_adam.yaml │ │ ├── regress_4way_drivable.yaml │ │ ├── small_loop.yaml │ │ ├── small_loop_cw.yaml │ │ ├── straight_road.yaml │ │ ├── udem1.yaml │ │ └── zigzag_dists.yaml │ ├── meshes │ │ ├── barrier.obj │ │ ├── building.obj │ │ ├── bus.obj │ │ ├── cone.obj │ │ ├── duckie.obj │ │ ├── duckiebot.mtl │ │ ├── duckiebot.obj │ │ ├── house.obj │ │ ├── sign_4_way_intersect.mtl │ │ ├── sign_4_way_intersect.obj │ │ ├── sign_T_intersect.mtl │ │ ├── sign_T_intersect.obj │ │ ├── sign_blank.obj │ │ ├── sign_do_not_enter.mtl │ │ ├── sign_do_not_enter.obj │ │ ├── sign_duck_crossing.mtl │ │ ├── sign_duck_crossing.obj │ │ ├── sign_left_T_intersect.mtl │ │ ├── sign_left_T_intersect.obj │ │ ├── sign_no_left_turn.mtl │ │ ├── sign_no_left_turn.obj │ │ ├── sign_no_right_turn.mtl │ │ ├── sign_no_right_turn.obj │ │ ├── sign_oneway_left.mtl │ │ ├── sign_oneway_left.obj │ │ ├── sign_oneway_right.mtl │ │ ├── sign_oneway_right.obj │ │ ├── sign_pedestrian.mtl │ │ ├── sign_pedestrian.obj │ │ ├── sign_right_T_intersect.mtl │ │ ├── sign_right_T_intersect.obj │ │ ├── sign_stop.mtl │ │ ├── sign_stop.obj │ │ ├── sign_t_light_ahead.mtl │ │ ├── sign_t_light_ahead.obj │ │ ├── sign_yield.mtl │ │ ├── sign_yield.obj │ │ ├── trafficlight.mtl │ │ ├── trafficlight.obj │ │ ├── tree.mtl │ │ ├── tree.obj │ │ └── truck.obj │ ├── objects.py │ ├── objmesh.py │ ├── pngs │ │ ├── obj-barrier.png │ │ ├── obj-building.png │ │ ├── obj-bus.png │ │ ├── obj-cone.png │ │ ├── obj-duckie.png │ │ ├── obj-duckiebot.png │ │ ├── obj-house.png │ │ ├── obj-sign_4_way_intersect.png │ │ ├── obj-sign_T_intersect.png │ │ ├── obj-sign_blank.png │ │ ├── obj-sign_do_not_enter.png │ │ ├── obj-sign_duck_crossing.png │ │ ├── obj-sign_left_T_intersect.png │ │ ├── obj-sign_no_left_turn.png │ │ ├── obj-sign_no_right_turn.png │ │ ├── obj-sign_oneway_left.png │ │ ├── obj-sign_oneway_right.png │ │ ├── obj-sign_pedestrian.png │ │ ├── obj-sign_right_T_intersect.png │ │ ├── obj-sign_stop.png │ │ ├── obj-sign_t_light_ahead.png │ │ ├── obj-sign_yield.png │ │ ├── obj-trafficlight.png │ │ ├── obj-tree.png │ │ ├── obj-truck.png │ │ └── tmp │ │ │ ├── obj-barrier.png │ │ │ ├── obj-building.png │ │ │ ├── obj-bus.png │ │ │ ├── obj-cone.png │ │ │ ├── obj-duckie.png │ │ │ ├── obj-duckiebot.obj.png │ │ │ ├── obj-duckiebot.png │ │ │ ├── obj-house.png │ │ │ ├── obj-trafficlight.png │ │ │ ├── obj-tree.png │ │ │ └── obj-truck.png │ ├── randomization │ │ ├── README.md │ │ ├── __init__.py │ │ ├── config │ │ │ ├── default.json │ │ │ └── default_dr.json │ │ └── randomizer.py │ ├── requirements.txt │ ├── simulator.py │ ├── textures │ │ ├── 3way_left_1.png │ │ ├── 3way_left_2.png │ │ ├── 3way_right_1.png │ │ ├── 4way_1.png │ │ ├── asphalt_1.png │ │ ├── barrier.png │ │ ├── black_tile.png │ │ ├── building.png │ │ ├── bus.png │ │ ├── calibration_tile_1.png │ │ ├── circlegrid.jpg │ │ ├── cone.png │ │ ├── curve_left_1.png │ │ ├── curve_left_2.png │ │ ├── curve_left_3.png │ │ ├── curve_right_1.png │ │ ├── duckie.png │ │ ├── floor_1.png │ │ ├── floor_tiles_white.png │ │ ├── grass_1.png │ │ ├── grass_2.png │ │ ├── house.png │ │ ├── sign_4_way_intersect.png │ │ ├── sign_T_intersect.png │ │ ├── sign_blank.png │ │ ├── sign_do_not_enter.png │ │ ├── sign_duck_crossing.png │ │ ├── sign_left_T_intersect.png │ │ ├── sign_no_left_turn.png │ │ ├── sign_no_right_turn.png │ │ ├── sign_oneway_left.png │ │ ├── sign_oneway_right.png │ │ ├── sign_pedestrian.png │ │ ├── sign_right_T_intersect.png │ │ ├── sign_stop.png │ │ ├── sign_t_light_ahead.png │ │ ├── sign_yield.png │ │ ├── straight_1.png │ │ ├── stucco.png │ │ ├── trafficlight_card.jpg │ │ ├── trafficlight_card0.jpg │ │ ├── trafficlight_card1.jpg │ │ ├── trafficlight_cover.jpg │ │ ├── truck.png │ │ ├── truck_2.png │ │ ├── water_1.png │ │ └── wood_osb.jpg │ ├── utils.py │ └── wrappers.py ├── maps │ ├── loop_empty.yaml │ ├── small_loop.yaml │ └── zigzag_dists.yaml ├── models │ ├── __init__.py │ ├── model_actor.pth │ └── model_critic.pth ├── ornstein_uhlenbeck.py ├── scripts │ ├── README.md │ ├── __init__.py │ ├── evaluation.py │ ├── test_ddpg.py │ └── train_ddpg.py ├── utils.py └── wrappers.py ├── getting_started.ipynb ├── requirements.txt ├── submission ├── README.md ├── keras │ ├── Dockerfile │ ├── README.md │ ├── model.py │ ├── requirements.txt │ ├── solution.py │ └── submission.yaml └── tf │ ├── Dockerfile │ ├── README.md │ ├── model.py │ ├── requirements.txt │ ├── solution.py │ └── submission.yaml └── tutorials ├── OU_action_noise.py ├── PIDcontroller.py ├── README.md ├── cartpole ├── args.py ├── ddpg.py ├── models │ ├── model_actor.pth │ └── model_critic.pth ├── test_ddpg.py ├── train_ddpg.py └── utils.py ├── get_dynamics.py ├── get_good_sample_pose.py ├── get_tile_coordinates.py ├── helpers.py ├── image_processing ├── get_controller_params.py ├── hough_lines.py ├── process_env_advanced.py ├── process_env_advanced_HLS.py ├── process_env_simple.py └── process_image.py ├── images ├── Approach#1_plot_DistvsTime.png ├── Approach#1_plot_dist.png ├── Approach#1_plot_reward.png ├── OrnsteinUhlenbeckActionNoise(mu=[0. 0.], sigma=[0.2 0.2])-1000 steps - 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