├── .gitignore ├── Driving.gif ├── LICENSE ├── README.md ├── _utils ├── __init__.py ├── evaluation.py ├── grad_cam │ ├── __init__.py │ ├── activations_and_gradients.py │ ├── base_cam.py │ ├── grad_cam.py │ ├── image.py │ ├── model_targets.py │ └── svd_on_activations.py ├── training_utils.py └── utils.py ├── configs ├── CILv2 │ └── CILv2_3cam_smalltest.yaml ├── __init__.py ├── _global.py └── attribute_dict.py ├── console ├── __init__.py ├── executer.py ├── train_val.py └── val.py ├── dataloaders ├── __init__.py ├── carlaImages.py └── transforms.py ├── logger ├── __init__.py ├── _logger.py └── tensorboard_logger.py ├── logo.png ├── main.py ├── network ├── __init__.py ├── loss.py ├── models │ ├── __init__.py │ ├── _models.py │ ├── architectures │ │ ├── CIL_multiview │ │ │ ├── CIL_multiview.py │ │ │ ├── __init__.py │ │ │ └── evaluator.py │ │ ├── Roach_rl_birdview │ │ │ ├── __init__.py │ │ │ ├── birdview │ │ │ │ ├── __init__.py │ │ │ │ ├── chauffeurnet.py │ │ │ │ └── maps │ │ │ │ │ ├── Town01.h5 │ │ │ │ │ ├── Town02.h5 │ │ │ │ │ ├── Town03.h5 │ │ │ │ │ ├── Town04.h5 │ │ │ │ │ ├── Town05.h5 │ │ │ │ │ └── Town06.h5 │ │ │ ├── distributions.py │ │ │ ├── obs_manager.py │ │ │ ├── obs_manager_handler.py │ │ │ ├── ppo.py │ │ │ ├── ppo_buffer.py │ │ │ ├── ppo_policy.py │ │ │ ├── rl_birdview_agent.py │ │ │ ├── run_stop_sign.py │ │ │ ├── torch_layers.py │ │ │ ├── torch_util.py │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── rl_birdview_wrapper.py │ │ │ │ ├── traffic_light.py │ │ │ │ ├── transforms.py │ │ │ │ └── wandb_callback.py │ │ └── __init__.py │ └── building_blocks │ │ ├── PositionalEncoding.py │ │ ├── Transformer │ │ ├── MultiheadAttention.py │ │ ├── TransformerDecoder.py │ │ ├── TransformerEncoder.py │ │ ├── __init__.py │ │ └── functional.py │ │ ├── __init__.py │ │ ├── branching.py │ │ ├── conv.py │ │ ├── fc.py │ │ ├── join.py │ │ ├── mu_logvar.py │ │ ├── resnet.py │ │ └── resnet_FM.py └── models_console.py ├── requirements.txt ├── run_CARLA_driving ├── __init__.py ├── data │ ├── leaderboard │ │ ├── Town03_navigation.xml │ │ ├── Town05_navigation.xml │ │ ├── leaderboard_Town03.json │ │ └── leaderboard_Town05.json │ └── nocrash │ │ ├── Town01_navigation_lbc.xml │ │ ├── Town02_navigation_lbc.xml │ │ ├── nocrash_newtown_busy_Town02_lbc.json │ │ ├── nocrash_newtown_dense_Town02_lbc.json │ │ ├── nocrash_newtown_empty_Town02_lbc.json │ │ ├── nocrash_newtown_regular_Town02_lbc.json │ │ ├── nocrash_newweather_dense_Town01_lbc.json │ │ ├── nocrash_newweather_empty_Town01_lbc.json │ │ ├── nocrash_newweather_regular_Town01_lbc.json │ │ ├── nocrash_newweathertown_busy_Town02_lbc.json │ │ ├── nocrash_newweathertown_dense_Town02_lbc.json │ │ ├── nocrash_newweathertown_empty_Town02_lbc.json │ │ ├── nocrash_newweathertown_regular_Town02_lbc.json │ │ ├── nocrash_training_dense_Town01_lbc.json │ │ ├── nocrash_training_empty_Town01_lbc.json │ │ └── nocrash_training_regular_Town01_lbc.json ├── driving │ ├── __init__.py │ ├── autoagents │ │ ├── CILv2_agent.py │ │ ├── RoachRL_expert.py │ │ ├── __init__.py │ │ ├── agent_wrapper.py │ │ └── autonomous_agent.py │ ├── envs │ │ ├── __init__.py │ │ ├── data_writer.py │ │ └── sensor_interface.py │ ├── evaluator.py │ ├── scenarios │ │ ├── __init__.py │ │ ├── background_activity.py │ │ ├── master_scenario.py │ │ ├── route_scenario.py │ │ ├── scenario_manager.py │ │ └── scenarioatomics │ │ │ ├── __init__.py │ │ │ └── atomic_criteria.py │ └── utils │ │ ├── __init__.py │ │ ├── checkpoint_tools.py │ │ ├── result_writer.py │ │ ├── route_indexer.py │ │ ├── route_manipulation.py │ │ ├── route_parser.py │ │ ├── server_manager.py │ │ ├── statistics_manager.py │ │ └── waypointer.py ├── pytorch_grad_cam │ ├── .gitattributes │ ├── .github │ │ └── workflows │ │ │ └── python-app.yml │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── __init__.py │ ├── cam.py │ ├── examples │ │ ├── augsmooth.jpg │ │ ├── both.png │ │ ├── both_detection.png │ │ ├── cam_gb_dog.jpg │ │ ├── cars_segmentation.png │ │ ├── cat.jpg │ │ ├── dog.jpg │ │ ├── dog_cat.jfif │ │ ├── dogs.png │ │ ├── dogs_gradcam++_resnet50.jpg │ │ ├── dogs_gradcam++_vgg16.jpg │ │ ├── dogs_gradcam_resnet50.jpg │ │ ├── dogs_gradcam_vgg16.jpg │ │ ├── dogs_scorecam_resnet50.jpg │ │ ├── dogs_scorecam_vgg16.jpg │ │ ├── eigenaug.jpg │ │ ├── eigensmooth.jpg │ │ ├── horses.jpg │ │ ├── nosmooth.jpg │ │ ├── resnet50_cat_ablationcam_cam.jpg │ │ ├── resnet50_cat_gradcam_cam.jpg │ │ ├── resnet50_cat_scorecam_cam.jpg │ │ ├── resnet50_dog_ablationcam_cam.jpg │ │ ├── resnet50_dog_gradcam_cam.jpg │ │ ├── resnet50_dog_scorecam_cam.jpg │ │ ├── resnet_horses_ablationcam_cam.jpg │ │ ├── resnet_horses_gradcam++_cam.jpg │ │ ├── resnet_horses_gradcam_cam.jpg │ │ ├── resnet_horses_horses_eigencam_cam.jpg │ │ ├── resnet_horses_scorecam_cam.jpg │ │ ├── swinT_cat_ablationcam_cam.jpg │ │ ├── swinT_cat_gradcam_cam.jpg │ │ ├── swinT_cat_scorecam_cam.jpg │ │ ├── swinT_dog_ablationcam_cam.jpg │ │ ├── swinT_dog_gradcam_cam.jpg │ │ ├── swinT_dog_scorecam_cam.jpg │ │ ├── vgg_horses_ablationcam_cam.jpg │ │ ├── vgg_horses_eigencam_cam.jpg │ │ ├── vgg_horses_gradcam++_cam.jpg │ │ ├── vgg_horses_gradcam_cam.jpg │ │ ├── vgg_horses_scorecam_cam.jpg │ │ ├── vit_cat_ablationcam_cam.jpg │ │ ├── vit_cat_gradcam_cam.jpg │ │ ├── vit_cat_scorecam_cam.jpg │ │ ├── vit_dog_ablationcam_cam.jpg │ │ ├── vit_dog_gradcam_cam.jpg │ │ └── vit_dog_scorecam_cam.jpg │ ├── pyproject.toml │ ├── pytorch_grad_cam │ │ ├── __init__.py │ │ ├── ablation_cam.py │ │ ├── ablation_cam_multilayer.py │ │ ├── ablation_layer.py │ │ ├── activations_and_gradients.py │ │ ├── base_cam.py │ │ ├── eigen_cam.py │ │ ├── eigen_grad_cam.py │ │ ├── fullgrad_cam.py │ │ ├── grad_cam.py │ │ ├── grad_cam_plusplus.py │ │ ├── guided_backprop.py │ │ ├── layer_cam.py │ │ ├── score_cam.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── find_layers.py │ │ │ ├── image.py │ │ │ ├── model_targets.py │ │ │ ├── reshape_transforms.py │ │ │ └── svd_on_activations.py │ │ └── xgrad_cam.py │ ├── requirements.txt │ ├── setup.cfg │ ├── setup.py │ ├── tests │ │ ├── test_context_release.py │ │ └── test_run_all_models.py │ ├── tutorials │ │ ├── Class Activation Maps for Object Detection With Faster RCNN.ipynb │ │ ├── Class Activation Maps for Semantic Segmentation.ipynb │ │ ├── EigenCAM for YOLO5.ipynb │ │ ├── Pixel Attribution for embeddings.ipynb │ │ └── vision_transformers.md │ └── usage_examples │ │ ├── swinT_example.py │ │ └── vit_example.py ├── scripts │ └── run_evaluation │ │ └── CILv2 │ │ ├── leaderboard_Town05.sh │ │ └── nocrash_newweathertown_Town02.sh └── signs │ ├── 4_directions │ ├── follow_lane.png │ ├── go_straight.png │ ├── turn_left.png │ └── turn_right.png │ ├── 6_directions │ ├── change_left.png │ ├── change_right.png │ ├── follow_lane.png │ ├── go_straight.png │ ├── turn_left.png │ └── turn_right.png │ └── arial.ttf └── scenario_runner ├── 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 ├── 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_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 ├── 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 ├── 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 ├── 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 ├── watchdog.py └── weather_sim.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 ├── 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 ├── other_leading_vehicle.py ├── route_scenario.py ├── signalized_junction_left_turn.py └── signalized_junction_right_turn.py ├── tools ├── __init__.py ├── openscenario_parser.py ├── py_trees_port.py ├── route_manipulation.py ├── route_parser.py ├── scenario_helper.py └── scenario_parser.py └── utilities └── code_check_and_formatting.sh /.gitignore: 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