├── .gitignore ├── README.md ├── _logs └── EXP │ └── BC_im_50Hours_seed1_encoder_finetuning_3FC_5Hours_s1_100000 │ └── config.json ├── cad └── cexp │ ├── __init__.py │ ├── agents │ ├── DummyAgent.py │ ├── NPCAgent.py │ ├── PGAgent.py │ ├── PPOAgent.py │ ├── RANDOMAgent.py │ ├── __init__.py │ ├── agent.py │ ├── controller.py │ ├── local_planner.py │ ├── misc.py │ └── noiser.py │ ├── arial.ttf │ ├── car_green.png │ ├── car_red.png │ ├── driving_batch.py │ ├── env │ ├── __init__.py │ ├── datatools │ │ ├── __init__.py │ │ ├── affordances.py │ │ ├── data_parser.py │ │ ├── data_writer.py │ │ └── map_drawer.py │ ├── environment.py │ ├── experience.py │ ├── scenario_manager.py │ ├── scorer.py │ ├── sensors │ │ ├── __init__.py │ │ └── sensor_interface.py │ ├── server_manager.py │ └── utils │ │ ├── __init__.py │ │ ├── general.py │ │ ├── route_configuration_parser.py │ │ └── scenario_utils.py │ ├── ped_green.png │ ├── ped_red.png │ ├── recorder.py │ ├── traffic_green.png │ └── traffic_red.png ├── carl ├── README.md ├── benchmark_runner.py ├── cexp │ ├── __init__.py │ ├── agents │ │ ├── DummyAgent.py │ │ ├── NPCAgent.py │ │ ├── PGAgent.py │ │ ├── PPOAgent.py │ │ ├── RANDOMAgent.py │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── controller.py │ │ ├── local_planner.py │ │ ├── misc.py │ │ └── noiser.py │ ├── benchmark.py │ ├── cexp.py │ ├── docs │ │ ├── benchmarking.md │ │ ├── examples.md │ │ ├── general_view.md │ │ ├── getting_started.md │ │ └── gym.md │ ├── env │ │ ├── __init__.py │ │ ├── datatools │ │ │ ├── __init__.py │ │ │ ├── affordances.py │ │ │ ├── data_parser.py │ │ │ ├── data_writer.py │ │ │ └── map_drawer.py │ │ ├── environment.py │ │ ├── experience.py │ │ ├── scenario_identification.py │ │ ├── scenario_manager.py │ │ ├── scorer.py │ │ ├── sensors │ │ │ ├── __init__.py │ │ │ └── sensor_interface.py │ │ ├── server_manager.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── general.py │ │ │ ├── route_configuration_parser.py │ │ │ └── scenario_utils.py │ ├── recorder.py │ └── testing │ │ ├── __init__.py │ │ ├── film_pedestrians.py │ │ ├── test_background_scenario.py │ │ ├── test_benchmark_cont.py │ │ ├── test_carla_simple.py │ │ ├── test_env_creation.py │ │ ├── test_exp_creation_cleaning.py │ │ ├── test_fast_reset.py │ │ ├── test_multigpu.py │ │ ├── test_parsing.py │ │ ├── test_scenario_identification.py │ │ └── test_score_making.py ├── data_viewer.py ├── database │ └── CoRL2020 │ │ ├── corl2017 │ │ ├── Town01_navigation.xml │ │ ├── Town01_one_curve.xml │ │ ├── Town01_straight.xml │ │ ├── Town02_navigation.xml │ │ ├── Town02_one_curve.xml │ │ ├── Town02_one_curve_old.xml │ │ └── Town02_straight.xml │ │ ├── dataset_dynamic_Town01_1Hour_valid.json │ │ ├── dataset_dynamic_Town01_20Hours_train.json │ │ ├── dataset_dynamic_Town01_20Hours_train_random.json │ │ ├── dataset_dynamic_Town01_30mins_train.json │ │ ├── dataset_dynamic_Town01_50Hours_train.json │ │ ├── dataset_dynamic_Town01_5Hours_train.json │ │ ├── dataset_dynamic_Town02_1Hour_valid.json │ │ ├── routes │ │ └── routes_all.xml │ │ └── small_dataset.json ├── example_benchmark.py ├── example_data_reading.py ├── example_npc.py ├── example_pg.py ├── multi_gpu_data_collection.py ├── other │ ├── __init__.py │ └── screen_manager.py ├── setup_cexp.sh └── tools │ ├── Town01.png │ ├── Town01.txt │ ├── Town01Central.png │ ├── Town01Lanes.png │ ├── Town02.png │ ├── Town02.txt │ ├── Town02Big.png │ ├── Town02Central.png │ ├── Town02Lanes.png │ ├── __init__.py │ ├── converter.py │ ├── generate_straight_simple_exps.py │ ├── generate_town01_empty_exps.py │ ├── generate_xml_benchmarks_08.py │ ├── generators │ ├── __init__.py │ ├── generate_corl_exps.py │ ├── generate_dataset_ICML_Town01_l0_empty.py │ ├── generate_dataset_ICML_Town01_l0_random.py │ ├── generate_dataset_dynamic_Town01_50Hours.py │ ├── generate_dataset_dynamic_Town02_23Hours.py │ ├── generate_dataset_dynamic_Town02_l0.py │ ├── generate_dataset_dynamic_l0.py │ ├── generate_dataset_validation_l0.py │ ├── generate_dataset_vehicles_l0.py │ ├── generate_dataset_vehicles_l1.py │ ├── generate_dataset_vehicles_walkers_l0.py │ ├── generate_no_crash_exps.py │ ├── generate_scenario_based_json.py │ ├── generate_super_baseline_data.py │ ├── generate_super_baseline_data_l0.py │ ├── generate_super_baseline_data_l0_test.py │ ├── generate_super_baseline_data_l1.py │ ├── generate_super_baseline_data_l2.py │ ├── generate_super_baseline_data_l3.py │ ├── generate_super_baseline_data_l4.py │ └── routes_generators.py │ ├── generators_utils.py │ ├── image_process.py │ ├── measure_dataset.py │ ├── plot_routes.py │ ├── test_matplotlib.py │ └── wheel.png ├── carla08 ├── __init__.py ├── agent │ ├── __init__.py │ ├── agent.py │ ├── command_follower.py │ ├── forward_agent.py │ ├── human_agent.py │ ├── lane_follower.py │ └── modules │ │ ├── __init__.py │ │ ├── controllers.py │ │ ├── obstacle_avoidance.py │ │ ├── utils.py │ │ └── waypointer.py ├── carla_server_pb2.py ├── client.py ├── driving_benchmark │ ├── __init__.py │ ├── driving_benchmark.py │ ├── experiment.py │ ├── experiment_suites │ │ ├── __init__.py │ │ ├── basic_experiment_suite.py │ │ ├── corl_2017.py │ │ ├── experiment_suite.py │ │ └── longcontrol_2018.py │ ├── metrics.py │ ├── recording.py │ └── results_printer.py ├── image_converter.py ├── planner │ ├── Town01.png │ ├── Town01.txt │ ├── Town01Central.png │ ├── Town01Lanes.png │ ├── Town02.png │ ├── Town02.txt │ ├── Town02Big.png │ ├── Town02Central.png │ ├── Town02Lanes.png │ ├── __init__.py │ ├── astar.py │ ├── bezier.py │ ├── city_track.py │ ├── converter.py │ ├── graph.py │ ├── grid.py │ ├── map.py │ └── planner.py ├── sensor.py ├── settings.py ├── tcp.py ├── transform.py └── util.py ├── coil_core ├── __init__.py ├── executer.py ├── train.py ├── train_encoder.py └── validate.py ├── coilutils ├── __init__.py ├── attribute_dict.py ├── checking.py ├── checkpoint_schedule.py ├── drive_utils.py ├── experiment_schedule.py ├── exporter.py └── general.py ├── configs ├── ENCODER │ ├── BC_im_50Hours_seed1.yaml │ ├── BC_smallDataset_seed1.yaml │ ├── forward_im_20HoursRandom_seed1.yaml │ ├── forward_im_50Hours_seed1.yaml │ ├── inverse_im_20HoursRandom_seed1.yaml │ ├── inverse_im_50Hours_seed3.yaml │ ├── stdim_im_20HoursRandom_seed1.yaml │ └── stdim_im_50Hours_seed2.yaml ├── EXP │ ├── BC_im_50Hours_seed1_encoder_finetuning_3FC_5Hours_s1.yaml │ ├── BC_im_50Hours_seed1_encoder_frozen_1FC_30mins_s1.yaml │ ├── BC_smallDataset_seed1_encoder_frozen_1FC_smallDataset_s1.yaml │ ├── forward_im_20HoursRandom_seed1_encoder_frozen_1FC_30mins_s1.yaml │ ├── forward_im_50Hours_seed1_encoder_frozen_1FC_30mins_s1.yaml │ ├── inverse_im_20HoursRandom_seed1_encoder_frozen_1FC_30mins_s1.yaml │ ├── inverse_im_50Hours_seed3_encoder_frozen_1FC_30mins_s1.yaml │ ├── stdim_im_20HoursRandom_seed1_encoder_frozen_1FC_30mins_s1.yaml │ └── stdim_im_50Hours_seed2_encoder_frozen_1FC_30mins_s1.yaml ├── __init__.py ├── coil_global.py └── namer.py ├── drive ├── AffordancesAgent.py ├── CoILBaseline.py ├── CoILBaselineCEXP.py ├── ETEAgent.py ├── __init__.py ├── affordances.py ├── coil_agent.py ├── config.json ├── controller.py ├── local_planner.py ├── misc.py ├── sample_agent.json ├── suites │ ├── __init__.py │ ├── corl_new_town_suite.py │ ├── corl_new_weather_suite.py │ ├── corl_new_weather_town_suite.py │ ├── corl_training_suite.py │ ├── eccv_generalization_suite.py │ ├── eccv_training_suite.py │ ├── nocrash_new_town_suite.py │ ├── nocrash_new_weather_suite.py │ ├── nocrash_new_weather_town_suite.py │ ├── nocrash_training_suite.py │ ├── test_t1_suite.py │ └── test_t2_suite.py └── wheel.png ├── driving-benchmarks-carla_09_cexp ├── README.md ├── benchmark_runner.py ├── benchmarks_084.py ├── export_results.py ├── mkdocs.yml ├── version084 │ ├── __init__.py │ ├── benchmark_tools │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── benchmark_runner.py │ │ ├── experiment.py │ │ ├── experiment_suites │ │ │ ├── __init__.py │ │ │ ├── basic_experiment_suite.py │ │ │ └── experiment_suite.py │ │ ├── metrics.py │ │ ├── recording.py │ │ └── results_printer.py │ ├── carla │ │ ├── __init__.py │ │ ├── carla_server_pb2.py │ │ ├── client.py │ │ ├── image_converter.py │ │ ├── planner │ │ │ ├── Town01.png │ │ │ ├── Town01.txt │ │ │ ├── Town01Central.png │ │ │ ├── Town01Lanes.png │ │ │ ├── Town02.png │ │ │ ├── Town02.txt │ │ │ ├── Town02Big.png │ │ │ ├── Town02Central.png │ │ │ ├── Town02Lanes.png │ │ │ ├── __init__.py │ │ │ ├── astar.py │ │ │ ├── bezier.py │ │ │ ├── city_track.py │ │ │ ├── converter.py │ │ │ ├── graph.py │ │ │ ├── grid.py │ │ │ ├── map.py │ │ │ └── planner.py │ │ ├── sensor.py │ │ ├── settings.py │ │ ├── tcp.py │ │ ├── transform.py │ │ └── util.py │ ├── client_example.py │ ├── docs │ │ ├── benchmark_basic_results_town01.md │ │ ├── benchmark_basic_results_town02.md │ │ ├── benchmark_creating.md │ │ ├── benchmark_metrics.md │ │ ├── benchmark_start.md │ │ └── benchmark_structure.md │ ├── driving_benchmarks │ │ ├── __init__.py │ │ ├── carla100 │ │ │ ├── __init__.py │ │ │ └── carla100.py │ │ └── corl2017 │ │ │ ├── __init__.py │ │ │ └── corl_2017.py │ └── setup.py └── version09x │ ├── __init__.py │ ├── agents │ ├── DummyAgent.py │ └── NPCAgent.py │ ├── benchmark.py │ ├── benchmarks │ ├── __init__.py │ ├── corl2017.py │ ├── nocrash.py │ └── sample_drivings.py │ ├── descriptions │ ├── corl2017 │ │ ├── Town01_navigation.xml │ │ ├── Town01_one_curve.xml │ │ ├── Town01_straight.xml │ │ ├── Town02_navigation.xml │ │ ├── Town02_one_curve.xml │ │ └── Town02_straight.xml │ ├── nocrash │ │ ├── Town01_navigation.xml │ │ ├── Town02_navigation.xml │ │ ├── nocrash_newtown_dense_Town02.json │ │ ├── nocrash_newtown_dense_Town02_ClearNoon.json │ │ ├── nocrash_newtown_dense_Town02_ClearSunset.json │ │ ├── nocrash_newtown_dense_Town02_HardRainNoon.json │ │ ├── nocrash_newtown_dense_Town02_WetNoon.json │ │ ├── nocrash_newtown_empty_Town02.json │ │ ├── nocrash_newtown_regular_Town02.json │ │ ├── nocrash_newtownsw_dense_Town02.json │ │ ├── nocrash_newtownsw_empty_Town02.json │ │ ├── nocrash_newtownsw_regular_Town02.json │ │ ├── nocrash_newweather_dense_Town01.json │ │ ├── nocrash_newweather_empty_Town01.json │ │ ├── nocrash_newweather_regular_Town01.json │ │ ├── nocrash_newweathertown_dense_Town02.json │ │ ├── nocrash_newweathertown_empty_Town02.json │ │ ├── nocrash_newweathertown_regular_Town02.json │ │ ├── nocrash_training_dense_Town01.json │ │ ├── nocrash_training_dense_Town01_ClearNoon.json │ │ ├── nocrash_training_dense_Town01_ClearSunset.json │ │ ├── nocrash_training_dense_Town01_HardRainNoon.json │ │ ├── nocrash_training_dense_Town01_WetNoon.json │ │ ├── nocrash_training_empty_Town01.json │ │ ├── nocrash_training_regular_Town01.json │ │ ├── nocrash_trainingsw_dense_Town01.json │ │ ├── nocrash_trainingsw_empty_Town01.json │ │ └── nocrash_trainingsw_regular_Town01.json │ ├── number_pedestrians.json │ ├── random_seed_test.json │ ├── routes │ │ ├── carlachallenge_devtest.xml │ │ ├── carlachallenge_training.xml │ │ ├── routes_test.xml │ │ ├── routes_town01.xml │ │ └── straight_town01.xml │ ├── sample_description.json │ ├── sample_drivings │ │ ├── Town01_navigation.xml │ │ ├── Town02_navigation.xml │ │ ├── nocrash_newtown_dense_Town02_samples.json │ │ ├── nocrash_newtown_empty_Town02_samples.json │ │ ├── nocrash_newtown_regular_Town01_samples.json │ │ ├── nocrash_training_dense_Town01_samples.json │ │ ├── nocrash_training_empty_Town01_samples.json │ │ └── nocrash_training_regular_Town01_samples.json │ └── scenarios │ │ └── all_towns_traffic_scenarios1_3_4.json │ ├── docs │ ├── agent_definition.md │ └── benchmark_start.md │ ├── generators │ ├── __init__.py │ └── generate_benchmark_routes.py │ └── testing │ ├── __init__.py │ └── random_seed_test.py ├── driving_clip.gif ├── input ├── __init__.py ├── augmenter.py ├── coil_dataset.py ├── coil_sampler.py ├── data_parser.py ├── scheduler.py └── splitter.py ├── logger ├── __init__.py ├── carla_metrics_parser.py ├── coil_logger.py ├── json_formatter.py ├── monitorer.py ├── namer.py ├── printer.py ├── tensorboard_logger.py └── utils.py ├── main.py ├── network ├── __init__.py ├── coil_model.py ├── loss.py ├── loss_functional.py ├── models │ ├── __init__.py │ ├── building_blocks │ │ ├── __init__.py │ │ ├── branching.py │ │ ├── conv.py │ │ ├── fc.py │ │ ├── join.py │ │ ├── mu_logvar.py │ │ ├── resnet.py │ │ ├── resnet_enc.py │ │ ├── resnet_mlp.py │ │ └── utils.py │ ├── coil_cmd_input.py │ ├── coil_icra.py │ ├── encoder_back.py │ ├── encoder_models.py │ ├── encoder_models_better.py │ └── self_superviseds.py └── optimizer.py ├── overview.png ├── plotter └── data_reading.py └── scenario_runner ├── CHANGELOG.md ├── Docs ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── agent_evaluation.md ├── challenge_evaluation.md ├── coding_standard.md ├── creating_new_scenario.md ├── getting_started.md ├── images │ ├── 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 │ └── scenario_runner_video.png ├── list_of_scenarios.md ├── openscenario_support.md └── ros_agent.md ├── FAQ.md ├── LICENSE ├── README.md ├── manual_control.py ├── no_rendering_mode.py ├── requirements.txt ├── results.json ├── scenario_runner.py ├── setup_environment.sh ├── srunner ├── __init__.py ├── challenge │ ├── Dockerfile.master │ ├── Dockerfile.ros │ ├── __init__.py │ ├── all_towns_traffic_scenarios.json │ ├── all_towns_traffic_scenarios1_3_4.json │ ├── all_towns_traffic_scenarios1_3_4_8.json │ ├── autoagents │ │ ├── __init__.py │ │ ├── agent_wrapper.py │ │ ├── autonomous_agent.py │ │ ├── dummy_agent.py │ │ ├── human_agent.py │ │ ├── npc_agent.py │ │ ├── ros_agent.py │ │ └── track_4_sample_agent.py │ ├── challenge_evaluator_routes.py │ ├── challenge_statistics_manager.py │ ├── envs │ │ ├── __init__.py │ │ ├── scene_layout_sensors.py │ │ ├── sensor_interface.py │ │ └── server_manager.py │ ├── make_docker.sh │ ├── no_scenarios.json │ ├── ros.bashrc │ ├── routes_debug.xml │ ├── routes_devtest.xml │ ├── routes_training.xml │ ├── run_evaluator.sh │ ├── test_challenge_route.py │ ├── test_routes.py │ └── utils │ │ ├── __init__.py │ │ ├── route_configuration_parser.py │ │ └── route_manipulation.py ├── examples │ ├── BackgroundActivity.xml │ ├── ChangeLane.xml │ ├── ControlLoss.xml │ ├── CutIn.xml │ ├── CyclistCrossing.xosc │ ├── FollowLeadingVehicle.xml │ ├── FollowLeadingVehicle.xosc │ ├── FreeRide.xml │ ├── LaneChangeSimple.xosc │ ├── LeadingVehicle.xml │ ├── MasterScenario.xml │ ├── NoSignalJunction.xml │ ├── ObjectCrossing.xml │ ├── OppositeDirection.xml │ ├── PedestrianCrossingfront.xosc │ ├── RunningRedLight.xml │ ├── SignalizedJunctionLeftTurn.xml │ ├── SignalizedJunctionRightTurn.xml │ ├── TurnLeftJunction.xml │ ├── VehicleTurning.xml │ └── signalized_junction_left_turn.xml ├── openscenario │ ├── OpenSCENARIO_Catalog.xsd │ ├── OpenSCENARIO_TypeDefs.xsd │ └── OpenSCENARIO_v0.9.1.xsd ├── scenarioconfigs │ ├── __init__.py │ ├── openscenario_configuration.py │ ├── route_scenario_configuration.py │ └── scenario_configuration.py ├── scenariomanager │ ├── __init__.py │ ├── carla_data_provider.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 ├── scenarios │ ├── __init__.py │ ├── background_activity.py │ ├── basic_scenario.py │ ├── change_lane.py │ ├── control_loss.py │ ├── cut_in.py │ ├── follow_leading_vehicle.py │ ├── freeride.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 │ ├── other_leading_vehicle.py │ ├── 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