├── .gitignore ├── LICENSE ├── README.md ├── bash ├── pack_h5.sh ├── submission.sh └── train.sh ├── configs ├── callbacks │ └── wandb.yaml ├── datamodule │ └── h5_womd.yaml ├── loggers │ └── wandb.yaml ├── model │ └── traffic_bots.yaml ├── resume │ ├── empty.yaml │ └── submission.yaml ├── run.yaml └── trainer │ └── default.yaml ├── docs ├── ablation_models.md └── trafficbots_banner.jpg ├── environment.yml └── src ├── __init__.py ├── callbacks ├── __init__.py └── wandb_callbacks.py ├── data_modules ├── __init__.py ├── data_h5_womd.py ├── sc_input.py ├── sc_latent.py ├── scene_centric.py └── waymo_post_processing.py ├── models ├── __init__.py ├── goal_manager.py ├── latent_encoder.py ├── metrics │ ├── __init__.py │ ├── logging.py │ ├── loss.py │ ├── training.py │ └── womd.py ├── modules │ ├── __init__.py │ ├── action_head.py │ ├── add_latent_goal.py │ ├── agent_interaction.py │ ├── agent_temporal.py │ ├── attention.py │ ├── distributions.py │ ├── input_pe_encoder.py │ ├── map_encoder.py │ ├── mlp.py │ └── transformer.py └── traffic_bots.py ├── pack_h5_womd.py ├── pl_modules ├── __init__.py └── waymo_motion.py ├── run.py └── utils ├── __init__.py ├── buffer.py ├── dynamics.py ├── pack_h5.py ├── pos_emb.py ├── pose_pe.py ├── rewards.py ├── submission.py ├── teacher_forcing.py ├── traffic_rule_checker.py ├── transform_utils.py └── vis_waymo.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/README.md -------------------------------------------------------------------------------- /bash/pack_h5.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/bash/pack_h5.sh -------------------------------------------------------------------------------- /bash/submission.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/bash/submission.sh -------------------------------------------------------------------------------- /bash/train.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/bash/train.sh -------------------------------------------------------------------------------- /configs/callbacks/wandb.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/configs/callbacks/wandb.yaml -------------------------------------------------------------------------------- /configs/datamodule/h5_womd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/configs/datamodule/h5_womd.yaml -------------------------------------------------------------------------------- /configs/loggers/wandb.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/configs/loggers/wandb.yaml -------------------------------------------------------------------------------- /configs/model/traffic_bots.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/configs/model/traffic_bots.yaml -------------------------------------------------------------------------------- /configs/resume/empty.yaml: -------------------------------------------------------------------------------- 1 | checkpoint: null 2 | resume_trainer: True 3 | model_overrides: {} 4 | -------------------------------------------------------------------------------- /configs/resume/submission.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/configs/resume/submission.yaml -------------------------------------------------------------------------------- /configs/run.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/configs/run.yaml -------------------------------------------------------------------------------- /configs/trainer/default.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/configs/trainer/default.yaml -------------------------------------------------------------------------------- /docs/ablation_models.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/docs/ablation_models.md -------------------------------------------------------------------------------- /docs/trafficbots_banner.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/docs/trafficbots_banner.jpg -------------------------------------------------------------------------------- /environment.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/environment.yml -------------------------------------------------------------------------------- /src/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/callbacks/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/callbacks/wandb_callbacks.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/callbacks/wandb_callbacks.py -------------------------------------------------------------------------------- /src/data_modules/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/data_modules/data_h5_womd.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/data_modules/data_h5_womd.py -------------------------------------------------------------------------------- /src/data_modules/sc_input.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/data_modules/sc_input.py -------------------------------------------------------------------------------- /src/data_modules/sc_latent.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/data_modules/sc_latent.py -------------------------------------------------------------------------------- /src/data_modules/scene_centric.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/data_modules/scene_centric.py -------------------------------------------------------------------------------- /src/data_modules/waymo_post_processing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/data_modules/waymo_post_processing.py -------------------------------------------------------------------------------- /src/models/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/models/goal_manager.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/goal_manager.py -------------------------------------------------------------------------------- /src/models/latent_encoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/latent_encoder.py -------------------------------------------------------------------------------- /src/models/metrics/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/models/metrics/logging.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/metrics/logging.py -------------------------------------------------------------------------------- /src/models/metrics/loss.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/metrics/loss.py -------------------------------------------------------------------------------- /src/models/metrics/training.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/metrics/training.py -------------------------------------------------------------------------------- /src/models/metrics/womd.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/metrics/womd.py -------------------------------------------------------------------------------- /src/models/modules/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/models/modules/action_head.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/action_head.py -------------------------------------------------------------------------------- /src/models/modules/add_latent_goal.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/add_latent_goal.py -------------------------------------------------------------------------------- /src/models/modules/agent_interaction.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/agent_interaction.py -------------------------------------------------------------------------------- /src/models/modules/agent_temporal.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/agent_temporal.py -------------------------------------------------------------------------------- /src/models/modules/attention.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/attention.py -------------------------------------------------------------------------------- /src/models/modules/distributions.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/distributions.py -------------------------------------------------------------------------------- /src/models/modules/input_pe_encoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/input_pe_encoder.py -------------------------------------------------------------------------------- /src/models/modules/map_encoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/map_encoder.py -------------------------------------------------------------------------------- /src/models/modules/mlp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/mlp.py -------------------------------------------------------------------------------- /src/models/modules/transformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/modules/transformer.py -------------------------------------------------------------------------------- /src/models/traffic_bots.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/models/traffic_bots.py -------------------------------------------------------------------------------- /src/pack_h5_womd.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/pack_h5_womd.py -------------------------------------------------------------------------------- /src/pl_modules/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/pl_modules/waymo_motion.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/pl_modules/waymo_motion.py -------------------------------------------------------------------------------- /src/run.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/run.py -------------------------------------------------------------------------------- /src/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/utils/buffer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/buffer.py -------------------------------------------------------------------------------- /src/utils/dynamics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/dynamics.py -------------------------------------------------------------------------------- /src/utils/pack_h5.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/pack_h5.py -------------------------------------------------------------------------------- /src/utils/pos_emb.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/pos_emb.py -------------------------------------------------------------------------------- /src/utils/pose_pe.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/pose_pe.py -------------------------------------------------------------------------------- /src/utils/rewards.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/rewards.py -------------------------------------------------------------------------------- /src/utils/submission.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/submission.py -------------------------------------------------------------------------------- /src/utils/teacher_forcing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/teacher_forcing.py -------------------------------------------------------------------------------- /src/utils/traffic_rule_checker.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/traffic_rule_checker.py -------------------------------------------------------------------------------- /src/utils/transform_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/transform_utils.py -------------------------------------------------------------------------------- /src/utils/vis_waymo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/TrafficBots/HEAD/src/utils/vis_waymo.py --------------------------------------------------------------------------------