├── LICENSE ├── README.md ├── docs └── HAIM-DRL_Poster.png ├── haim_drl ├── DIDrive_core │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── haco_env.cpython-37.pyc │ ├── data │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── base_collector.cpython-37.pyc │ │ │ ├── benchmark_dataset_saver.cpython-37.pyc │ │ │ ├── bev_vae_dataset.cpython-37.pyc │ │ │ ├── carla_benchmark_collector.cpython-37.pyc │ │ │ ├── cict_dataset.cpython-37.pyc │ │ │ ├── cilrs_dataset.cpython-37.pyc │ │ │ └── lbc_dataset.cpython-37.pyc │ │ ├── base_collector.py │ │ ├── benchmark │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ └── benchmark_utils.cpython-37.pyc │ │ │ ├── benchmark_utils.py │ │ │ ├── carla100 │ │ │ │ ├── 084 │ │ │ │ │ ├── nocrash_Town01.txt │ │ │ │ │ └── nocrash_Town02.txt │ │ │ │ ├── 096 │ │ │ │ │ ├── nocrash_Town01.txt │ │ │ │ │ └── nocrash_Town02.txt │ │ │ │ └── 099 │ │ │ │ │ ├── nocrash_Town01.txt │ │ │ │ │ └── nocrash_Town02.txt │ │ │ └── corl2017 │ │ │ │ ├── 084 │ │ │ │ ├── full_Town01.txt │ │ │ │ ├── full_Town02.txt │ │ │ │ ├── straight_Town01.txt │ │ │ │ ├── straight_Town02.txt │ │ │ │ ├── turn_Town01.txt │ │ │ │ └── turn_Town02.txt │ │ │ │ ├── 096 │ │ │ │ ├── full_Town01.txt │ │ │ │ ├── full_Town02.txt │ │ │ │ ├── straight_Town01.txt │ │ │ │ ├── straight_Town02.txt │ │ │ │ ├── turn_Town01.txt │ │ │ │ └── turn_Town02.txt │ │ │ │ └── 099 │ │ │ │ ├── changelane_Town04.txt │ │ │ │ ├── full_Town01.txt │ │ │ │ ├── full_Town02.txt │ │ │ │ ├── full_Town04.txt │ │ │ │ ├── straight_Town01.txt │ │ │ │ ├── straight_Town02.txt │ │ │ │ ├── straight_Town04.txt │ │ │ │ ├── turn_Town01.txt │ │ │ │ └── turn_Town02.txt │ │ ├── benchmark_dataset_saver.py │ │ ├── bev_vae_dataset.py │ │ ├── carla_benchmark_collector.py │ │ ├── casezoo │ │ │ ├── configs │ │ │ │ ├── no_scenarios.json │ │ │ │ ├── route01.json │ │ │ │ ├── route02.json │ │ │ │ ├── route03.json │ │ │ │ ├── route04.json │ │ │ │ ├── route06.json │ │ │ │ ├── route07.json │ │ │ │ ├── route08.json │ │ │ │ ├── route09.json │ │ │ │ ├── town03_1.json │ │ │ │ ├── town03_junctions01.json │ │ │ │ ├── town03_junctions02.json │ │ │ │ ├── town03_junctions03.json │ │ │ │ ├── town04_1.json │ │ │ │ ├── town04_junctions01.json │ │ │ │ ├── town04_junctions02.json │ │ │ │ ├── town04_junctions03.json │ │ │ │ ├── town05_junctions01.json │ │ │ │ ├── town05_junctions02.json │ │ │ │ └── town05_junctions03.json │ │ │ ├── example │ │ │ │ ├── ChangeLane.xml │ │ │ │ ├── ControlLoss.xml │ │ │ │ ├── CutIn.xml │ │ │ │ ├── LeadingVehicle.xml │ │ │ │ ├── OppositeDirection.xml │ │ │ │ ├── SignalizedJunctionLeftTurn.xml │ │ │ │ ├── SignalizedJunctionRightTurn.xml │ │ │ │ └── SignalizedJunctionStraight.xml │ │ │ └── routes │ │ │ │ ├── route01.xml │ │ │ │ ├── route02.xml │ │ │ │ ├── route03.xml │ │ │ │ ├── route04.xml │ │ │ │ ├── route06.xml │ │ │ │ ├── route07.xml │ │ │ │ ├── route08.xml │ │ │ │ ├── route09.xml │ │ │ │ ├── town03_1.xml │ │ │ │ ├── town03_junctions01.xml │ │ │ │ ├── town03_junctions02.xml │ │ │ │ ├── town03_junctions03.xml │ │ │ │ ├── town04_1.xml │ │ │ │ ├── town04_junctions01.xml │ │ │ │ ├── town04_junctions02.xml │ │ │ │ ├── town04_junctions03.xml │ │ │ │ ├── town05_junctions01.xml │ │ │ │ ├── town05_junctions02.xml │ │ │ │ └── town05_junctions03.xml │ │ ├── cict_dataset.py │ │ ├── cilrs_dataset.py │ │ ├── lbc_dataset.py │ │ └── srunner │ │ │ ├── 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 │ ├── demo │ │ ├── auto_run │ │ │ ├── auto_eval.py │ │ │ ├── auto_run.py │ │ │ ├── auto_run_case.py │ │ │ └── default_experiment │ │ │ │ └── log │ │ │ │ ├── benchmark_evaluator │ │ │ │ └── benchmark_evaluator_logger.txt │ │ │ │ └── single_evaluator │ │ │ │ └── single_evaluator_logger.txt │ │ ├── cict │ │ │ ├── .gitignore │ │ │ ├── camera │ │ │ │ ├── basic_tools.py │ │ │ │ ├── coordinate_transformation.py │ │ │ │ └── parameters.py │ │ │ ├── cict_datasaver.py │ │ │ ├── cict_eval.py │ │ │ ├── cict_eval_GAN.py │ │ │ ├── cict_eval_traj.py │ │ │ ├── cict_model.py │ │ │ ├── cict_policy.py │ │ │ ├── cict_test.py │ │ │ ├── cict_train_GAN.py │ │ │ ├── cict_train_traj.py │ │ │ ├── collect_data.py │ │ │ ├── collect_pm.py │ │ │ └── post.py │ │ ├── cilrs │ │ │ ├── cilrs_collect_data.py │ │ │ ├── cilrs_env_wrapper.py │ │ │ ├── cilrs_eval.py │ │ │ ├── cilrs_test.py │ │ │ └── cilrs_train.py │ │ ├── implicit │ │ │ ├── carla_env.py │ │ │ ├── collect_data.py │ │ │ ├── dataset.py │ │ │ ├── eval.py │ │ │ ├── eval_policy.py │ │ │ ├── models.py │ │ │ ├── train_rl.py │ │ │ ├── train_sl.py │ │ │ └── utils.py │ │ ├── latent_rl │ │ │ ├── collect_data.py │ │ │ ├── latent_dqn_eval.py │ │ │ ├── latent_dqn_test.py │ │ │ ├── latent_dqn_train.py │ │ │ ├── latent_rl_env.py │ │ │ ├── model.py │ │ │ └── train_vae.py │ │ ├── lbc │ │ │ ├── lbc_bev_eval.py │ │ │ ├── lbc_bev_test.py │ │ │ ├── lbc_birdview_train.py │ │ │ ├── lbc_collect_data.py │ │ │ ├── lbc_env_wrapper.py │ │ │ ├── lbc_image_eval.py │ │ │ └── lbc_image_test.py │ │ └── simple_rl │ │ │ ├── __pycache__ │ │ │ ├── env_wrapper.cpython-37.pyc │ │ │ ├── model.cpython-37.pyc │ │ │ └── sac_train.cpython-37.pyc │ │ │ ├── ckpt_best.pth.tar │ │ │ ├── ddpg_test.py │ │ │ ├── ddpg_train.py │ │ │ ├── dqn_eval.py │ │ │ ├── dqn_test.py │ │ │ ├── dqn_train.py │ │ │ ├── env_wrapper.py │ │ │ ├── log │ │ │ └── sac2_bev32_buf2e5_lr1e4_bs128_ns3000_update4_train_ft │ │ │ │ └── events.out.tfevents.1638339105.LAPTOP-ETGTPJK2 │ │ │ ├── model.py │ │ │ ├── ppo_test.py │ │ │ ├── ppo_train.py │ │ │ ├── sac2_bev32_buf2e5_lr1e4_bs128_ns3000_update4_train_ft │ │ │ ├── ckpt │ │ │ │ └── iteration_0.pth.tar │ │ │ └── log │ │ │ │ ├── buffer │ │ │ │ └── buffer_logger.txt │ │ │ │ ├── collector │ │ │ │ └── collector_logger.txt │ │ │ │ ├── learner │ │ │ │ └── learner_logger.txt │ │ │ │ └── serial_evaluator │ │ │ │ └── serial_evaluator_logger.txt │ │ │ ├── sac_test.py │ │ │ ├── sac_train.py │ │ │ ├── td3_test.py │ │ │ └── td3_train.py │ ├── envs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── base_carla_env.cpython-37.pyc │ │ │ ├── carla_env_wrapper.cpython-37.pyc │ │ │ ├── scenario_carla_env.cpython-37.pyc │ │ │ └── simple_carla_env.cpython-37.pyc │ │ ├── base_carla_env.py │ │ ├── carla_env_wrapper.py │ │ ├── scenario_carla_env.py │ │ └── simple_carla_env.py │ ├── eval │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── base_evaluator.cpython-37.pyc │ │ │ ├── carla_benchmark_evaluator.cpython-37.pyc │ │ │ ├── serial_evaluator.cpython-37.pyc │ │ │ └── single_carla_evaluator.cpython-37.pyc │ │ ├── base_evaluator.py │ │ ├── carla_benchmark_evaluator.py │ │ ├── serial_evaluator.py │ │ └── single_carla_evaluator.py │ ├── haco_env.py │ ├── models │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── bev_speed_model.cpython-37.pyc │ │ │ ├── carla_controller.cpython-37.pyc │ │ │ ├── cilrs_model.cpython-37.pyc │ │ │ ├── lbc_model.cpython-37.pyc │ │ │ ├── model_wrappers.cpython-37.pyc │ │ │ ├── mpc_controller.cpython-37.pyc │ │ │ ├── pid_controller.cpython-37.pyc │ │ │ └── vae_model.cpython-37.pyc │ │ ├── bev_speed_model.py │ │ ├── carla_controller.py │ │ ├── cilrs_model.py │ │ ├── lbc_model.py │ │ ├── model_wrappers.py │ │ ├── mpc_controller.py │ │ ├── pid_controller.py │ │ └── vae_model.py │ ├── policy │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── auto_policy.cpython-37.pyc │ │ │ ├── base_carla_policy.cpython-37.pyc │ │ │ ├── cilrs_policy.cpython-37.pyc │ │ │ └── lbc_policy.cpython-37.pyc │ │ ├── auto_policy.py │ │ ├── base_carla_policy.py │ │ ├── cilrs_policy.py │ │ └── lbc_policy.py │ ├── simulators │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── base_simulator.cpython-37.pyc │ │ │ ├── carla_data_provider.cpython-37.pyc │ │ │ ├── carla_scenario_simulator.cpython-37.pyc │ │ │ ├── carla_simulator.cpython-37.pyc │ │ │ └── fake_simulator.cpython-37.pyc │ │ ├── base_simulator.py │ │ ├── carla_data_provider.py │ │ ├── carla_scenario_simulator.py │ │ ├── carla_simulator.py │ │ ├── fake_simulator.py │ │ └── srunner │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ └── __init__.cpython-37.pyc │ │ │ ├── scenarioconfigs │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── route_scenario_configuration.cpython-37.pyc │ │ │ │ └── scenario_configuration.cpython-37.pyc │ │ │ ├── openscenario_configuration.py │ │ │ ├── route_scenario_configuration.py │ │ │ └── scenario_configuration.py │ │ │ ├── scenariomanager │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── result_writer.cpython-37.pyc │ │ │ │ ├── scenario_manager.cpython-37.pyc │ │ │ │ ├── timer.cpython-37.pyc │ │ │ │ ├── traffic_events.cpython-37.pyc │ │ │ │ ├── watchdog.cpython-37.pyc │ │ │ │ └── weather_sim.cpython-37.pyc │ │ │ ├── actorcontrols │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ │ ├── actor_control.cpython-37.pyc │ │ │ │ │ ├── basic_control.cpython-37.pyc │ │ │ │ │ ├── external_control.cpython-37.pyc │ │ │ │ │ ├── npc_vehicle_control.cpython-37.pyc │ │ │ │ │ └── pedestrian_control.cpython-37.pyc │ │ │ │ ├── actor_control.py │ │ │ │ ├── basic_control.py │ │ │ │ ├── external_control.py │ │ │ │ ├── npc_vehicle_control.py │ │ │ │ ├── pedestrian_control.py │ │ │ │ ├── simple_vehicle_control.py │ │ │ │ └── vehicle_longitudinal_control.py │ │ │ ├── result_writer.py │ │ │ ├── scenario_manager.py │ │ │ ├── scenarioatomics │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ │ ├── atomic_behaviors.cpython-37.pyc │ │ │ │ │ ├── atomic_criteria.cpython-37.pyc │ │ │ │ │ └── atomic_trigger_conditions.cpython-37.pyc │ │ │ │ ├── atomic_behaviors.py │ │ │ │ ├── atomic_criteria.py │ │ │ │ └── atomic_trigger_conditions.py │ │ │ ├── timer.py │ │ │ ├── traffic_events.py │ │ │ ├── watchdog.py │ │ │ └── weather_sim.py │ │ │ ├── scenarios │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── basic_scenario.cpython-37.pyc │ │ │ │ ├── change_lane.cpython-37.pyc │ │ │ │ ├── control_loss.cpython-37.pyc │ │ │ │ ├── control_loss_new.cpython-37.pyc │ │ │ │ ├── cut_in.cpython-37.pyc │ │ │ │ ├── follow_leading_vehicle.cpython-37.pyc │ │ │ │ ├── follow_leading_vehicle_new.cpython-37.pyc │ │ │ │ ├── junction_crossing_route.cpython-37.pyc │ │ │ │ ├── maneuver_opposite_direction.cpython-37.pyc │ │ │ │ ├── object_crash_intersection.cpython-37.pyc │ │ │ │ ├── object_crash_vehicle.cpython-37.pyc │ │ │ │ ├── opposite_direction.cpython-37.pyc │ │ │ │ ├── other_leading_vehicle.cpython-37.pyc │ │ │ │ ├── route_scenario.cpython-37.pyc │ │ │ │ ├── signalized_junction_left_turn.cpython-37.pyc │ │ │ │ ├── signalized_junction_right_turn.cpython-37.pyc │ │ │ │ └── signalized_junction_straight.cpython-37.pyc │ │ │ ├── basic_scenario.py │ │ │ ├── change_lane.py │ │ │ ├── control_loss.py │ │ │ ├── control_loss_new.py │ │ │ ├── cut_in.py │ │ │ ├── cut_in_new.py │ │ │ ├── follow_leading_vehicle.py │ │ │ ├── follow_leading_vehicle_new.py │ │ │ ├── junction_crossing_route.py │ │ │ ├── maneuver_opposite_direction.py │ │ │ ├── no_signal_junction_crossing.py │ │ │ ├── object_crash_intersection.py │ │ │ ├── object_crash_vehicle.py │ │ │ ├── opposite_direction.py │ │ │ ├── other_leading_vehicle.py │ │ │ ├── route_scenario.py │ │ │ ├── signalized_junction_left_turn.py │ │ │ ├── signalized_junction_right_turn.py │ │ │ └── signalized_junction_straight.py │ │ │ └── tools │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── py_trees_port.cpython-37.pyc │ │ │ ├── route_manipulation.cpython-37.pyc │ │ │ ├── route_parser.cpython-37.pyc │ │ │ ├── scenario_helper.cpython-37.pyc │ │ │ └── scenario_parser.cpython-37.pyc │ │ │ ├── openscenario_parser.py │ │ │ ├── py_trees_port.py │ │ │ ├── route_manipulation.py │ │ │ ├── route_parser.py │ │ │ ├── scenario_helper.py │ │ │ └── scenario_parser.py │ └── utils │ │ ├── data_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── augmenter.cpython-37.pyc │ │ │ ├── bev_utils.cpython-37.pyc │ │ │ ├── coil_sampler.cpython-37.pyc │ │ │ ├── data_writter.cpython-37.pyc │ │ │ └── splitter.cpython-37.pyc │ │ ├── augmenter.py │ │ ├── bev_utils.py │ │ ├── coil_sampler.py │ │ ├── data_writter.py │ │ └── splitter.py │ │ ├── env_utils │ │ ├── __pycache__ │ │ │ └── stuck_detector.cpython-37.pyc │ │ └── stuck_detector.py │ │ ├── learner_utils │ │ ├── __pycache__ │ │ │ └── loss_utils.cpython-37.pyc │ │ ├── log_saver_utils.py │ │ ├── loss_utils.py │ │ └── optim_utils.py │ │ ├── model_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── common.cpython-37.pyc │ │ │ └── resnet.cpython-37.pyc │ │ ├── common.py │ │ └── resnet.py │ │ ├── others │ │ ├── __pycache__ │ │ │ ├── config_helper.cpython-37.pyc │ │ │ ├── ding_utils.cpython-37.pyc │ │ │ ├── image_helper.cpython-37.pyc │ │ │ ├── tcp_helper.cpython-37.pyc │ │ │ └── visualizer.cpython-37.pyc │ │ ├── checkpoint_helper.py │ │ ├── config_helper.py │ │ ├── ding_utils.py │ │ ├── general_helper.py │ │ ├── image_helper.py │ │ ├── tcp_helper.py │ │ └── visualizer.py │ │ ├── planner │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── basic_planner.cpython-37.pyc │ │ │ ├── behavior_planner.cpython-37.pyc │ │ │ ├── lbc_planner.cpython-37.pyc │ │ │ └── planner_utils.cpython-37.pyc │ │ ├── basic_planner.py │ │ ├── behavior_planner.py │ │ ├── lbc_planner.py │ │ └── planner_utils.py │ │ └── simulator_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── carla_utils.cpython-37.pyc │ │ ├── map_utils.cpython-37.pyc │ │ └── sensor_utils.cpython-37.pyc │ │ ├── carla_agents │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-37.pyc │ │ ├── navigation │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── agent.cpython-37.pyc │ │ │ │ ├── basic_agent.cpython-37.pyc │ │ │ │ ├── controller.cpython-37.pyc │ │ │ │ ├── global_route_planner.cpython-37.pyc │ │ │ │ ├── global_route_planner_dao.cpython-37.pyc │ │ │ │ ├── local_planner.cpython-37.pyc │ │ │ │ └── types_behavior.cpython-37.pyc │ │ │ ├── agent.py │ │ │ ├── basic_agent.py │ │ │ ├── behavior_agent.py │ │ │ ├── controller.py │ │ │ ├── global_route_planner.py │ │ │ ├── global_route_planner_dao.py │ │ │ ├── local_planner.py │ │ │ ├── local_planner_behavior.py │ │ │ ├── roaming_agent.py │ │ │ └── types_behavior.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── misc.cpython-37.pyc │ │ │ └── misc.py │ │ ├── carla_utils.py │ │ ├── map_utils.py │ │ └── sensor_utils.py ├── __init__.py ├── algo │ ├── HG_Dagger │ │ ├── __init__.py │ │ ├── eval_hg_dagger.py │ │ ├── exp_saver.py │ │ ├── model.py │ │ └── utils.py │ ├── IWR │ │ ├── __init__.py │ │ ├── eval_IWR.py │ │ ├── exp_saver.py │ │ ├── model.py │ │ └── utils.py │ ├── __init__.py │ ├── cql │ │ ├── __init__.py │ │ ├── cql.py │ │ └── cql_torch_policy.py │ ├── gail │ │ ├── __init__.py │ │ ├── exp_saver.py │ │ └── mlp.py │ ├── haco │ │ ├── __init__.py │ │ ├── haco.py │ │ └── visual_model.py │ ├── haim_drl │ │ ├── __init__.py │ │ ├── haim_drl.py │ │ ├── sac_lag_model.py │ │ └── visual_model.py │ ├── ppo_lag │ │ ├── __init__.py │ │ ├── ppo_lag.py │ │ └── ppo_lag_model.py │ └── sac_lag │ │ ├── __init__.py │ │ ├── sac_lag.py │ │ ├── sac_lag_model.py │ │ └── sac_lag_policy.py ├── run_baselines │ ├── eval_haco.py │ ├── train_IWR.py │ ├── train_bc.py │ ├── train_cql.py │ ├── train_gail.py │ ├── train_haco.py │ ├── train_haco_in_carla.py │ ├── train_haco_keyboard_easy.py │ ├── train_hg_dagger.py │ ├── train_ppo.py │ ├── train_ppo_lag.py │ ├── train_sac.py │ └── train_sac_lag.py ├── run_main_exp │ ├── eval_haim_drl.py │ ├── train_haim_drl.py │ ├── train_haim_drl_in_carla.py │ └── train_haim_drl_keyboard_easy.py └── utils │ ├── __init__.py │ ├── callback.py │ ├── collect_human_data_analysis.py │ ├── collect_human_data_set.py │ ├── config.py │ ├── eval_IWR_HG_Dagger.py │ ├── human_in_the_loop_env.py │ ├── idm_model.py │ ├── idm_model_test.py │ ├── input_reader.py │ ├── plt.py │ ├── replay_buffer.py │ ├── train.py │ └── train_utils.py └── setup.py /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zilin-huang/HAIM-DRL/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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