├── .gitignore ├── LICENSE ├── README.md ├── agents ├── cilrs │ ├── cilrs_agent.py │ ├── cilrs_wrapper.py │ └── models │ │ ├── cilrs_model.py │ │ ├── networks │ │ ├── branching.py │ │ ├── fc.py │ │ ├── join.py │ │ └── resnet.py │ │ ├── trainer.py │ │ └── utils │ │ ├── augmenter.py │ │ ├── branched_loss.py │ │ └── dataset.py ├── expert │ ├── lbc_roaming_agent.py │ └── utils │ │ ├── controller.py │ │ └── local_planner.py └── rl_birdview │ ├── models │ ├── distributions.py │ ├── ppo.py │ ├── ppo_buffer.py │ ├── ppo_policy.py │ ├── torch_layers.py │ └── torch_util.py │ ├── rl_birdview_agent.py │ └── utils │ ├── rl_birdview_wrapper.py │ └── wandb_callback.py ├── benchmark.py ├── carla_gym ├── __init__.py ├── carla_multi_agent_env.py ├── core │ ├── obs_manager │ │ ├── actor_state │ │ │ ├── control.py │ │ │ ├── route.py │ │ │ ├── speed.py │ │ │ └── velocity.py │ │ ├── birdview │ │ │ ├── chauffeurnet.py │ │ │ └── maps │ │ │ │ ├── Town01.h5 │ │ │ │ ├── Town02.h5 │ │ │ │ ├── Town03.h5 │ │ │ │ ├── Town04.h5 │ │ │ │ ├── Town05.h5 │ │ │ │ └── Town06.h5 │ │ ├── camera │ │ │ └── rgb.py │ │ ├── navigation │ │ │ ├── gnss.py │ │ │ └── waypoint_plan.py │ │ ├── object_finder │ │ │ ├── ego.py │ │ │ ├── pedestrian.py │ │ │ ├── stop_sign.py │ │ │ ├── traffic_light_new.py │ │ │ └── vehicle.py │ │ ├── obs_manager.py │ │ └── obs_manager_handler.py │ ├── task_actor │ │ ├── common │ │ │ ├── criteria │ │ │ │ ├── blocked.py │ │ │ │ ├── collision.py │ │ │ │ ├── encounter_light.py │ │ │ │ ├── outside_route_lane.py │ │ │ │ ├── route_deviation.py │ │ │ │ ├── run_red_light.py │ │ │ │ └── run_stop_sign.py │ │ │ ├── navigation │ │ │ │ ├── global_route_planner.py │ │ │ │ ├── map_utils.py │ │ │ │ └── route_manipulation.py │ │ │ └── task_vehicle.py │ │ ├── ego_vehicle │ │ │ ├── ego_vehicle_handler.py │ │ │ ├── reward │ │ │ │ └── valeo_action.py │ │ │ └── terminal │ │ │ │ ├── leaderboard.py │ │ │ │ ├── leaderboard_dagger.py │ │ │ │ ├── valeo.py │ │ │ │ └── valeo_no_det_px.py │ │ └── scenario_actor │ │ │ ├── agents │ │ │ ├── basic_agent.py │ │ │ ├── constant_speed_agent.py │ │ │ └── utils │ │ │ │ ├── controller.py │ │ │ │ ├── local_planner.py │ │ │ │ └── misc.py │ │ │ └── scenario_actor_handler.py │ ├── zombie_vehicle │ │ ├── zombie_vehicle.py │ │ └── zombie_vehicle_handler.py │ └── zombie_walker │ │ ├── zombie_walker.py │ │ └── zombie_walker_handler.py ├── envs │ ├── __init__.py │ ├── scenario_descriptions │ │ ├── CoRL2017 │ │ │ ├── cexp │ │ │ │ ├── Navigation │ │ │ │ │ ├── Town01 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ │ └── Town02 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ ├── OneCurve │ │ │ │ │ ├── Town01 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ │ ├── Town02 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ │ └── Town02_old │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ ├── Straight │ │ │ │ │ ├── Town01 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ │ ├── Town02 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ │ └── Town02_old │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ └── original_description │ │ │ │ │ ├── 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 │ │ │ │ │ └── Town02_straight_old.xml │ │ │ ├── driving-benchmarks │ │ │ │ ├── Navigation │ │ │ │ │ ├── Town01 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ │ └── Town02 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ ├── OneCurve │ │ │ │ │ ├── Town01 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ │ └── Town02 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ ├── Straight │ │ │ │ │ ├── Town01 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ │ └── Town02 │ │ │ │ │ │ ├── actors.json │ │ │ │ │ │ └── routes.xml │ │ │ │ └── original_description │ │ │ │ │ ├── Town01_navigation.xml │ │ │ │ │ ├── Town01_one_curve.xml │ │ │ │ │ ├── Town01_straight.xml │ │ │ │ │ ├── Town02_navigation.xml │ │ │ │ │ ├── Town02_one_curve.xml │ │ │ │ │ └── Town02_straight.xml │ │ │ └── lbc │ │ │ │ ├── Navigation │ │ │ │ ├── Town01 │ │ │ │ │ ├── actors.json │ │ │ │ │ └── routes.xml │ │ │ │ └── Town02 │ │ │ │ │ ├── actors.json │ │ │ │ │ └── routes.xml │ │ │ │ ├── OneCurve │ │ │ │ ├── Town01 │ │ │ │ │ ├── actors.json │ │ │ │ │ └── routes.xml │ │ │ │ └── Town02 │ │ │ │ │ ├── actors.json │ │ │ │ │ └── routes.xml │ │ │ │ ├── Straight │ │ │ │ ├── Town01 │ │ │ │ │ ├── actors.json │ │ │ │ │ └── routes.xml │ │ │ │ └── Town02 │ │ │ │ │ ├── actors.json │ │ │ │ │ └── routes.xml │ │ │ │ └── original_description │ │ │ │ ├── full_Town01.txt │ │ │ │ ├── full_Town02.txt │ │ │ │ ├── straight_Town01.txt │ │ │ │ ├── straight_Town02.txt │ │ │ │ ├── turn_Town01.txt │ │ │ │ └── turn_Town02.txt │ │ ├── LeaderBoard │ │ │ ├── Town01 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ ├── Town02 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ ├── Town03 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ ├── Town04 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ ├── Town04_test │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ ├── Town04_train │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ ├── Town05 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ └── Town06 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ └── NoCrash │ │ │ ├── cexp │ │ │ ├── Town01 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ ├── Town02 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ └── original_description │ │ │ │ ├── Town01_navigation.xml │ │ │ │ └── Town02_navigation.xml │ │ │ ├── driving-benchmarks │ │ │ ├── Town01 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ ├── Town02 │ │ │ │ ├── actors.json │ │ │ │ └── routes.xml │ │ │ └── original_description │ │ │ │ ├── Town01_navigation.xml │ │ │ │ └── Town02_navigation.xml │ │ │ └── lbc │ │ │ ├── Town01 │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ ├── Town02 │ │ │ ├── actors.json │ │ │ └── routes.xml │ │ │ └── original_description │ │ │ ├── nocrash_Town01.txt │ │ │ └── nocrash_Town02.txt │ └── suites │ │ ├── corl2017_env.py │ │ ├── endless_env.py │ │ ├── leaderboard_env.py │ │ └── nocrash_env.py └── utils │ ├── birdview_map.py │ ├── config_utils.py │ ├── dynamic_weather.py │ ├── expert_noiser.py │ ├── gps_utils.py │ ├── hazard_actor.py │ ├── traffic_light.py │ └── transforms.py ├── config ├── agent │ ├── cilrs.yaml │ ├── cilrs │ │ ├── obs_configs │ │ │ ├── central_rgb.yaml │ │ │ ├── central_rgb_wide.yaml │ │ │ ├── three_rgb.yaml │ │ │ └── three_rgb_wide.yaml │ │ ├── policy │ │ │ └── dagger.yaml │ │ └── training │ │ │ └── dagger.yaml │ ├── ppo.yaml │ ├── ppo │ │ ├── obs_configs │ │ │ ├── birdview.yaml │ │ │ └── birdview_no_scale.yaml │ │ ├── policy │ │ │ ├── xtma_beta.yaml │ │ │ └── xtma_gaus.yaml │ │ └── training │ │ │ └── ppo.yaml │ ├── roaming.yaml │ └── roaming │ │ └── obs_configs │ │ ├── birdview.yaml │ │ └── rgb.yaml ├── benchmark.yaml ├── data_collect.yaml ├── test_suites │ ├── cc_data.yaml │ ├── cc_test.yaml │ ├── eu_data.yaml │ ├── eu_test.yaml │ ├── eu_test_nn.yaml │ ├── eu_test_nt.yaml │ ├── eu_test_tn.yaml │ ├── eu_test_tt.yaml │ ├── lb_data.yaml │ ├── lb_test.yaml │ ├── lb_test_nn.yaml │ ├── lb_test_nt.yaml │ ├── lb_test_tn.yaml │ ├── lb_test_tt.yaml │ └── nocrash_dense.yaml ├── train_envs │ ├── endless_all.yaml │ └── endless_lb.yaml ├── train_il.yaml └── train_rl.yaml ├── data_collect.py ├── doc ├── INSTALL.md └── teaser.png ├── environment.yml ├── run ├── benchmark.sh ├── data_collect_bc.sh ├── data_collect_dagger.sh ├── train_il.sh └── train_rl.sh ├── train_il.py ├── train_rl.py └── utils ├── saving_utils.py └── server_utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhejz/carla-roach/HEAD/.gitignore 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