├── .gitignore ├── .vscode └── settings.json ├── LICENSE ├── README.md ├── docs ├── index.html └── static │ ├── css │ ├── bulma-carousel.min.css │ ├── bulma-slider.min.css │ ├── bulma.css.map.txt │ ├── bulma.min.css │ ├── fontawesome.all.min.css │ └── index.css │ ├── images │ └── sim_arch.jpg │ ├── js │ ├── bulma-carousel.js │ ├── bulma-carousel.min.js │ ├── bulma-slider.js │ ├── bulma-slider.min.js │ ├── fontawesome.all.min.js │ └── index.js │ ├── pdfs │ └── supp.pdf │ └── videos │ └── diffusion │ ├── 11.mp4 │ ├── 13.mp4 │ ├── 16.mp4 │ ├── 19.mp4 │ ├── 22.mp4 │ ├── 25.mp4 │ ├── 26.mp4 │ ├── 28.mp4 │ └── 35.mp4 ├── examples ├── data │ └── waymo │ │ ├── 1a0df891a09ab6c8 │ │ ├── agents.pb │ │ └── map.pb │ │ └── 1a1b6e6bacdd8880 │ │ ├── agents.pb │ │ └── map.pb └── simulation.ipynb ├── experiments ├── diff │ └── train_md.py └── rl │ ├── configs │ └── waymo_ppo.yml │ └── train_waymo.py ├── lcsim ├── __init__.py ├── config │ └── example.yml ├── engine │ ├── __init__.py │ └── engine.py ├── entity │ ├── .gitignore │ ├── __init__.py │ ├── agent │ │ ├── agent.py │ │ ├── manager.py │ │ ├── policy │ │ │ ├── __init__.py │ │ │ ├── expert_policy.py │ │ │ ├── idm_policy.py │ │ │ └── type.py │ │ ├── route.py │ │ ├── schedule.py │ │ └── vehicle.py │ ├── gen │ │ ├── __init__.py │ │ ├── __init__.pyi │ │ ├── agent │ │ │ ├── __init__.py │ │ │ ├── __init__.pyi │ │ │ ├── agent_pb2.py │ │ │ ├── agent_pb2.pyi │ │ │ ├── trip_pb2.py │ │ │ └── trip_pb2.pyi │ │ ├── geo │ │ │ ├── __init__.py │ │ │ ├── __init__.pyi │ │ │ ├── geo_pb2.py │ │ │ └── geo_pb2.pyi │ │ ├── map │ │ │ ├── __init__.py │ │ │ ├── __init__.pyi │ │ │ ├── light_pb2.py │ │ │ ├── light_pb2.pyi │ │ │ ├── map_pb2.py │ │ │ └── map_pb2.pyi │ │ └── routing │ │ │ ├── __init__.py │ │ │ ├── __init__.pyi │ │ │ ├── routing_pb2.py │ │ │ └── routing_pb2.pyi │ ├── junction │ │ ├── junction.py │ │ └── manager.py │ ├── lane │ │ ├── lane.py │ │ └── manager.py │ ├── road │ │ ├── manager.py │ │ └── road.py │ └── utils │ │ ├── __init__.py │ │ ├── plot.py │ │ └── polygon.py ├── envs │ ├── __init__.py │ ├── gym_warpper.py │ └── utils.py ├── protos │ ├── agent │ │ ├── agent.proto │ │ └── trip.proto │ ├── geo │ │ └── geo.proto │ ├── map │ │ ├── light.proto │ │ └── map.proto │ └── routing │ │ └── routing.proto └── scripts │ ├── gen_pb.sh │ └── scenario_converters │ ├── moss_convert.py │ └── waymo_convert.py ├── motion_diff ├── __init__.py ├── configs │ └── config.yml ├── dataset │ ├── __init__.py │ ├── data_module.py │ ├── process │ │ ├── process.py │ │ └── utils.py │ ├── utils.py │ └── womd.py ├── metrics │ ├── __init__.py │ ├── distribution.py │ ├── geometry.py │ ├── overlap.py │ ├── roadgraph.py │ └── trajectory.py ├── model.py ├── modules │ ├── __init__.py │ ├── agent_encoder.py │ ├── diff_decoder.py │ ├── guidance.py │ ├── layers │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── fourier_embedding.py │ │ ├── mlp.py │ │ ├── pca.py │ │ └── polyline_encoder.py │ ├── map_encoder.py │ └── utils.py └── scripts │ ├── analyse.ipynb │ ├── 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