├── .DS_Store ├── Control_Prediction.ipynb ├── Finetune_QwenVL_model └── carla_finetune.sh ├── LICENSE ├── README.md ├── TCP ├── __pycache__ │ ├── config.cpython-37.pyc │ ├── model.cpython-37.pyc │ ├── resnet.cpython-37.pyc │ └── utils.cpython-37.pyc ├── augment.py ├── config.py ├── data.py ├── model.py ├── resnet.py ├── train.py ├── turn_utils.py └── utils.py ├── assets ├── teaser.png └── teaser_.png ├── convert_video.py ├── data ├── .DS_Store ├── results_LLVM │ └── .gitkeep └── results_TCP │ └── .gitkeep ├── dataset_preparation └── Training Data Preparation_100k.ipynb ├── leaderboard ├── .DS_Store ├── CHANGELOG.md ├── LICENSE ├── README.md ├── data │ ├── TCP_training_routes │ │ ├── routes_town01.xml │ │ ├── routes_town01_addition.xml │ │ ├── routes_town01_val.xml │ │ ├── routes_town02.xml │ │ ├── routes_town02_val.xml │ │ ├── routes_town03.xml │ │ ├── routes_town03_addition.xml │ │ ├── routes_town03_val.xml │ │ ├── routes_town04.xml │ │ ├── routes_town04_addition.xml │ │ ├── routes_town04_val.xml │ │ ├── routes_town05.xml │ │ ├── routes_town05_addition.xml │ │ ├── routes_town05_val.xml │ │ ├── routes_town06.xml │ │ ├── routes_town06_addition.xml │ │ ├── routes_town06_val.xml │ │ ├── routes_town07.xml │ │ ├── routes_town07_val.xml │ │ ├── routes_town10.xml │ │ ├── routes_town10_addition.xml │ │ └── routes_town10_val.xml │ ├── additional_routes │ │ ├── routes_town01_long.xml │ │ ├── routes_town02_long.xml │ │ ├── routes_town03_long.xml │ │ ├── routes_town04_long.xml │ │ └── routes_town06_long.xml │ ├── evaluation_routes │ │ ├── routes_lav_valid.xml │ │ └── routes_town05_long.xml │ ├── scenarios │ │ ├── all_towns_traffic_scenarios.json │ │ ├── no_scenarios.json │ │ ├── town01_all_scenarios.json │ │ ├── town02_all_scenarios.json │ │ ├── town03_all_scenarios.json │ │ ├── town04_all_scenarios.json │ │ ├── town05_all_scenarios.json │ │ ├── town06_all_scenarios.json │ │ ├── town07_all_scenarios.json │ │ └── town10_all_scenarios.json │ ├── training_routes │ │ ├── routes_town01_short.xml │ │ ├── routes_town01_tiny.xml │ │ ├── routes_town02_short.xml │ │ ├── routes_town02_tiny.xml │ │ ├── routes_town03_short.xml │ │ ├── routes_town03_tiny.xml │ │ ├── routes_town03_tiny_180.xml │ │ ├── routes_town04_short.xml │ │ ├── routes_town04_tiny.xml │ │ ├── routes_town04_tiny_260.xml │ │ ├── routes_town06_short.xml │ │ ├── routes_town06_tiny.xml │ │ ├── routes_town07_short.xml │ │ ├── routes_town07_tiny.xml │ │ ├── routes_town10_short.xml │ │ └── routes_town10_tiny.xml │ └── validation_routes │ │ ├── routes_town05_short.xml │ │ └── routes_town05_tiny.xml ├── leaderboard │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── leaderboard_evaluator.cpython-37.pyc │ │ └── leaderboard_evaluator.cpython-39.pyc │ ├── autoagents │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── agent_wrapper.cpython-37.pyc │ │ │ └── autonomous_agent.cpython-37.pyc │ │ ├── agent_wrapper.py │ │ ├── autonomous_agent.py │ │ ├── dummy_agent.py │ │ ├── human_agent.py │ │ ├── human_agent_config.txt │ │ ├── npc_agent.py │ │ └── ros_agent.py │ ├── envs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── sensor_interface.cpython-37.pyc │ │ └── sensor_interface.py │ ├── leaderboard_evaluator.py │ ├── scenarios │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── route_scenario.cpython-37.pyc │ │ │ └── scenario_manager.cpython-37.pyc │ │ ├── background_activity.py │ │ ├── master_scenario.py │ │ ├── route_scenario.py │ │ ├── scenario_manager.py │ │ └── scenarioatomics │ │ │ ├── __init__.py │ │ │ └── atomic_criteria.py │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── checkpoint_tools.cpython-37.pyc │ │ ├── result_writer.cpython-37.pyc │ │ ├── route_indexer.cpython-37.pyc │ │ ├── route_manipulation.cpython-37.pyc │ │ ├── route_parser.cpython-37.pyc │ │ └── statistics_manager.cpython-37.pyc │ │ ├── checkpoint_tools.py │ │ ├── result_writer.py │ │ ├── route_indexer.py │ │ ├── route_manipulation.py │ │ ├── route_parser.py │ │ └── statistics_manager.py ├── requirements.txt ├── scripts │ ├── Dockerfile.master │ ├── code_check_and_formatting.sh │ ├── data_collection.sh │ ├── make_docker.sh │ ├── pretty_print_json.py │ ├── run_evaluation.sh │ ├── run_evaluation_carla.sh │ └── set_new_scenarios.py └── team_code │ ├── LLVM_Agent.py │ ├── __pycache__ │ ├── LLVM_Agent.cpython-37.pyc │ ├── planner.cpython-37.pyc │ ├── roach_ap_agent.cpython-37.pyc │ ├── tcp_agent.cpython-37.pyc │ └── turn_utils.cpython-37.pyc │ ├── auto_pilot.py │ ├── base_agent.py │ ├── map_agent.py │ ├── pid_controller.py │ ├── planner.py │ ├── roach_ap_agent.py │ ├── tcp_agent.py │ └── turn_utils.py ├── model_env_requirements.txt ├── requirements.txt ├── roach ├── .DS_Store ├── config │ └── config_agent.yaml ├── criteria │ ├── __pycache__ │ │ ├── blocked.cpython-37.pyc │ │ ├── collision.cpython-37.pyc │ │ ├── encounter_light.cpython-37.pyc │ │ ├── outside_route_lane.cpython-37.pyc │ │ ├── route_deviation.cpython-37.pyc │ │ ├── run_red_light.cpython-37.pyc │ │ └── run_stop_sign.cpython-37.pyc │ ├── blocked.py │ ├── collision.py │ ├── encounter_light.py │ ├── outside_route_lane.py │ ├── route_deviation.py │ ├── run_red_light.py │ └── run_stop_sign.py ├── log │ └── ckpt_11833344.pth ├── models │ ├── __pycache__ │ │ ├── distributions.cpython-37.pyc │ │ ├── ppo_policy.cpython-37.pyc │ │ ├── torch_layers.cpython-37.pyc │ │ └── torch_util.cpython-37.pyc │ ├── distributions.py │ ├── ppo.py │ ├── ppo_buffer.py │ ├── ppo_policy.py │ ├── torch_layers.py │ └── torch_util.py ├── obs_manager │ ├── __pycache__ │ │ ├── obs_manager.cpython-37.pyc │ │ └── obs_manager_handler.cpython-37.pyc │ ├── actor_state │ │ ├── __pycache__ │ │ │ ├── control.cpython-37.pyc │ │ │ ├── speed.cpython-37.pyc │ │ │ └── velocity.cpython-37.pyc │ │ ├── control.py │ │ ├── route.py │ │ ├── speed.py │ │ └── velocity.py │ └── birdview │ │ ├── __pycache__ │ │ └── chauffeurnet.cpython-37.pyc │ │ ├── chauffeurnet.py │ │ ├── hdmap_generate.py │ │ └── maps │ │ ├── Town01.h5 │ │ ├── Town02.h5 │ │ ├── Town03.h5 │ │ ├── Town04.h5 │ │ ├── Town05.h5 │ │ ├── Town06.h5 │ │ ├── Town07.h5 │ │ └── Town10HD.h5 ├── rl_birdview_agent.py └── utils │ ├── __pycache__ │ ├── config_utils.cpython-37.pyc │ ├── expert_noiser.cpython-37.pyc │ ├── rl_birdview_wrapper.cpython-37.pyc │ ├── route_manipulation.cpython-37.pyc │ ├── traffic_light.cpython-37.pyc │ └── transforms.cpython-37.pyc │ ├── config_utils.py │ ├── expert_noiser.py │ ├── rl_birdview_wrapper.py │ ├── traffic_light.py │ ├── transforms.py │ └── wandb_callback.py ├── scenario_runner ├── .DS_Store ├── CARLA_VER ├── Dockerfile ├── Docs │ ├── CHANGELOG.md │ ├── CODE_OF_CONDUCT.md │ ├── CONTRIBUTING.md │ ├── FAQ.md │ ├── agent_evaluation.md │ ├── coding_standard.md │ ├── creating_new_scenario.md │ ├── extra.css │ ├── getting_scenariorunner.md │ ├── getting_started.md │ ├── img │ │ ├── OSC_catalogs.png │ │ ├── OSC_entities_1.png │ │ ├── OSC_entities_2.png │ │ ├── OSC_main.png │ │ ├── OSC_params.png │ │ ├── OSC_roadnetwork.png │ │ ├── OSC_storyboard.png │ │ ├── OSC_storyboard_endconditions.png │ │ ├── OSC_storyboard_event.png │ │ ├── OSC_storyboard_init_1.png │ │ ├── OSC_storyboard_init_2.png │ │ ├── OSC_storyboard_story.png │ │ ├── metrics_example.jpg │ │ ├── metrics_example.png │ │ └── scenario_runner_video.png │ ├── index.md │ ├── list_of_scenarios.md │ ├── metrics_module.md │ ├── openscenario_support.md │ ├── requirements.txt │ └── ros_agent.md ├── Jenkinsfile ├── LICENSE ├── README.md ├── manual_control.py ├── metrics_manager.py ├── mkdocs.yml ├── no_rendering_mode.py ├── requirements.txt ├── scenario_runner.py └── srunner │ ├── __init__.py │ ├── __pycache__ │ └── __init__.cpython-37.pyc │ ├── autoagents │ ├── __init__.py │ ├── agent_wrapper.py │ ├── autonomous_agent.py │ ├── dummy_agent.py │ ├── human_agent.py │ ├── npc_agent.py │ ├── ros_agent.py │ └── sensor_interface.py │ ├── data │ ├── 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 │ ├── examples │ ├── CatalogExample.xosc │ ├── ChangeLane.xml │ ├── ChangingWeather.xosc │ ├── ControlLoss.xml │ ├── CutIn.xml │ ├── CyclistCrossing.xosc │ ├── FollowLeadingVehicle.xml │ ├── FollowLeadingVehicle.xosc │ ├── FreeRide.xml │ ├── LaneChangeSimple.xosc │ ├── LeadingVehicle.xml │ ├── NoSignalJunction.xml │ ├── ObjectCrossing.xml │ ├── OppositeDirection.xml │ ├── OscControllerExample.xosc │ ├── PedestrianCrossingFront.xosc │ ├── RunningRedLight.xml │ ├── SignalizedJunctionLeftTurn.xml │ ├── SignalizedJunctionRightTurn.xml │ ├── VehicleTurning.xml │ └── catalogs │ │ ├── ControllerCatalog.xosc │ │ ├── EnvironmentCatalog.xosc │ │ ├── ManeuverCatalog.xosc │ │ ├── MiscObjectCatalog.xosc │ │ ├── PedestrianCatalog.xosc │ │ └── VehicleCatalog.xosc │ ├── metrics │ ├── data │ │ ├── CriteriaFilter_criteria.json │ │ ├── DistanceBetweenVehicles_criteria.json │ │ └── DistanceToLaneCenter_criteria.json │ ├── examples │ │ ├── basic_metric.py │ │ ├── criteria_filter.py │ │ ├── distance_between_vehicles.py │ │ └── distance_to_lane_center.py │ └── tools │ │ ├── metrics_log.py │ │ └── metrics_parser.py │ ├── openscenario │ ├── 0.9.x │ │ ├── OpenSCENARIO_Catalog.xsd │ │ ├── OpenSCENARIO_TypeDefs.xsd │ │ ├── OpenSCENARIO_v0.9.1.xsd │ │ └── migration0_9_1to1_0.xslt │ └── OpenSCENARIO.xsd │ ├── scenarioconfigs │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── route_scenario_configuration.cpython-37.pyc │ │ └── scenario_configuration.cpython-37.pyc │ ├── openscenario_configuration.py │ ├── route_scenario_configuration.py │ └── scenario_configuration.py │ ├── scenariomanager │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── carla_data_provider.cpython-37.pyc │ │ ├── timer.cpython-37.pyc │ │ ├── traffic_events.cpython-37.pyc │ │ ├── watchdog.cpython-37.pyc │ │ └── weather_sim.cpython-37.pyc │ ├── actorcontrols │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── actor_control.cpython-37.pyc │ │ │ ├── basic_control.cpython-37.pyc │ │ │ ├── external_control.cpython-37.pyc │ │ │ ├── npc_vehicle_control.cpython-37.pyc │ │ │ └── pedestrian_control.cpython-37.pyc │ │ ├── actor_control.py │ │ ├── basic_control.py │ │ ├── external_control.py │ │ ├── npc_vehicle_control.py │ │ ├── pedestrian_control.py │ │ ├── simple_vehicle_control.py │ │ └── vehicle_longitudinal_control.py │ ├── carla_data_provider.py │ ├── result_writer.py │ ├── scenario_manager.py │ ├── scenarioatomics │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── atomic_behaviors.cpython-37.pyc │ │ │ ├── atomic_criteria.cpython-37.pyc │ │ │ └── atomic_trigger_conditions.cpython-37.pyc │ │ ├── atomic_behaviors.py │ │ ├── atomic_criteria.py │ │ └── atomic_trigger_conditions.py │ ├── timer.py │ ├── traffic_events.py │ ├── watchdog.py │ └── weather_sim.py │ ├── scenarios │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── basic_scenario.cpython-37.pyc │ │ ├── control_loss.cpython-37.pyc │ │ ├── follow_leading_vehicle.cpython-37.pyc │ │ ├── junction_crossing_route.cpython-37.pyc │ │ ├── maneuver_opposite_direction.cpython-37.pyc │ │ ├── object_crash_intersection.cpython-37.pyc │ │ ├── object_crash_vehicle.cpython-37.pyc │ │ └── other_leading_vehicle.cpython-37.pyc │ ├── background_activity.py │ ├── basic_scenario.py │ ├── change_lane.py │ ├── control_loss.py │ ├── cut_in.py │ ├── follow_leading_vehicle.py │ ├── freeride.py │ ├── junction_crossing_route.py │ ├── maneuver_opposite_direction.py │ ├── master_scenario.py │ ├── no_signal_junction_crossing.py │ ├── object_crash_intersection.py │ ├── object_crash_vehicle.py │ ├── open_scenario.py │ ├── opposite_vehicle_taking_priority.py │ 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