huawei-noah · Gamenot · Dec 4, 2023 · Dec 1, 2023 · Dec 1, 2023 · Dec 1, 2023
diff --git a/docs/ecosystem/argoverse.rst b/docs/ecosystem/argoverse.rst
@@ -27,6 +27,6 @@ You can then run any of the examples with this scenario:
 
 .. code-block:: sh
 
-    $ scl run --envision examples/egoless.py scenarios/argoverse
+    $ scl run --envision examples/e1_egoless.py scenarios/argoverse
 
 .. image:: /_static/argoverse-replay.gif
diff --git a/docs/ecosystem/rllib.rst b/docs/ecosystem/rllib.rst
@@ -35,7 +35,7 @@ many docs about ``Ray`` and ``RLlib``. We recommend to read the following pages
 Resume training
 ---------------
 
-With respect to ``SMARTS/examples/rl/rllib`` examples, if you want to continue an aborted experiment, you can set ``resume_training=True``. But note that ``resume_training=True`` will continue to use the same configuration as was set in the original experiment.
+With respect to ``SMARTS/examples/e12_rllib`` examples, if you want to continue an aborted experiment, you can set ``resume_training=True``. But note that ``resume_training=True`` will continue to use the same configuration as was set in the original experiment.
 To make changes to a started experiment, you can edit the latest experiment file in ``./results``.
 
 Or if you want to start a new experiment but train from an existing checkpoint, you will need to look into `How to Save and Load Trial Checkpoints <https://docs.ray.io/en/latest/tune/tutorials/tune-trial-checkpoints>`_.
diff --git a/docs/ecosystem/waymo.rst b/docs/ecosystem/waymo.rst
@@ -67,7 +67,7 @@ You can then run any of the examples with this scenario:
 
 .. code-block:: sh
 
-    $ scl run --envision examples/egoless.py scenarios/waymo
+    $ scl run --envision examples/e1_egoless.py scenarios/waymo
 
 .. image:: /_static/waymo-replay.gif
 

diff --git a/docs/examples/base_examples.rst b/docs/examples/base_examples.rst
@@ -0,0 +1,55 @@
+.. _base_examples:
+
+Base Examples
+==============
+
+Several examples are made available to help you get started with SMARTS.
+
+
+#. Egoless
+
+    + script: :examples:`e1_egoless.py`
+    + No agent
+    + Using a SMARTS environment without an agent.
+
+#. Single-agent
+
+    + script: :examples:`e2_single_agent.py`
+    + Single-agent
+    + Using a SMARTS environment with a single agent.
+
+#. Multi-agent
+
+    + script: :examples:`e3_multi_agent.py`
+    + Multi-agent
+    + Using a SMARTS environment with multiple agents.
+
+#. Environment configuration
+
+    + script: :examples:`e4_environment_config.py`
+    + Demonstrates how to configure a SMARTS environment.
+
+#. Agent zoo
+
+    + script: :examples:`e5_agent_zoo.py`
+    + Demonstrates how to use the agent zoo to retrieve an agent.
+
+#. Agent configuration
+
+    + script: :examples:`e6_agent_action_space.py`
+    + Demonstrates how to configure the action space for an agent.
+
+#. Experiment base
+
+    + script: :examples:`e7_experiment_base.py`
+    + An example of how to put together a larger experiment with configuration files.
+
+#. Parallel Environments
+
+    + script: :examples:`e8_parallel_environment.py`
+    + A primitive use of SMARTS environments in parallel.
+
+#. Jupyter Notebook
+
+    + script: :examples:`e9_notebook.py`
+    + A primitive use of SMARTS in a Jupyter Notebook.
diff --git a/docs/examples/control.rst b/docs/examples/control.rst
diff --git a/docs/examples/drive.rst b/docs/examples/drive.rst
diff --git a/docs/examples/egoless.rst b/docs/examples/egoless.rst
diff --git a/docs/examples/platoon.rst b/docs/examples/platoon.rst
diff --git a/docs/examples/rl_model.rst b/docs/examples/rl_model.rst
@@ -1,10 +1,24 @@
 .. _rl_model:
 
-RL Model
-========
+RL Models
+=========
 
-.. toctree::
-   :maxdepth: 1
+These examples demonstrate some ways to use SMARTS to generate RL models.
 
-   drive.rst 
-   platoon.rst
+
+#. Driving SMARTS Drive
+
+    + directory: :examples:`e10_drive`
+    + This example was developed in conjunction with the :ref:`Driving SMARTS 2023.1 & 2023.2 <driving_smarts_2023_1>` benchmark, hence refer to it for details.
+
+
+#. Driving SMARTS Platoon
+
+    + directory: :examples:`e11_platoon`
+    + This example was developed in conjunction with the :ref:`Driving SMARTS 2023.3 <driving_smarts_2023_3>` benchmark, hence refer to it for details.
+
+
+#. RLlib
+
+    + directory: :examples:`e12_rllib`
+    + See the :ref:`RLlib integration <rllib>` for additional examples.
diff --git a/docs/index.rst b/docs/index.rst
@@ -64,8 +64,7 @@ If you use SMARTS in your research, please cite the `paper <https://arxiv.org/ab
    :maxdepth: 3
    :caption: Examples
 
-   examples/egoless.rst
-   examples/control.rst
+   examples/base_examples.rst
    examples/rl_model.rst
 
 .. toctree::

diff --git a/docs/quickstart.rst b/docs/quickstart.rst
@@ -43,8 +43,7 @@ Explore
 
 Explore more examples.
 
-(i) :ref:`Egoless <egoless>`
-(ii) :ref:`Control theory <control>`
-(iii) :ref:`RL model <rl_model>`
+(i) :ref:`Base Examples <base_examples>`
+(ii) :ref:`RL model <rl_model>`
 
 A handful of pre-built scenarios are available at :scenarios:`scenarios <>` folder.
diff --git a/docs/resources/containers.rst b/docs/resources/containers.rst
@@ -23,7 +23,7 @@ SMARTS docker images are hosted at `dockerhub <https://hub.docker.com/u/huaweino
 
     # Run an example. 
     # Add --headless if visualisation is not needed.
-    $ python examples/control/chase_via_points.py scenarios/sumo/loop
+    $ python examples/e2_single_agent.py scenarios/sumo/loop
 
     # Visit http://localhost:8081 in the host machine to see the running simulation in Envision.
 
@@ -50,10 +50,10 @@ Instructions for running SMARTS within a `singularity <https://apptainer.org/>`_
     # 1. Run container in interactive mode.
     $ singularity shell --containall --bind ../SMARTS:/src ./utils/singularity/smarts.sif
     # Inside the container
-    Singularity> python3.8 /src/examples/control/chase_via_points.py /src/scenarios/sumo/loop/ --headless
+    Singularity> python3.8 /src/examples/e2_single_agent.py /src/scenarios/sumo/loop/ --headless
 
     # 2. Run commands within the container from the host system.
-    $ singularity exec --containall --bind ../SMARTS:/src ./utils/singularity/smarts.sif python3.8 /src/examples/control/chase_via_points.py /src/scenarios/sumo/loop/ --headless
+    $ singularity exec --containall --bind ../SMARTS:/src ./utils/singularity/smarts.sif python3.8 /src/examples/e2_single_agent.py /src/scenarios/sumo/loop/ --headless
 
     # 3. Run container instance in the background.
-    $ singularity instance start --containall --bind ../SMARTS:/src ./utils/singularity/smarts.sif smarts_train /src/examples/control/chase_via_points.py /src/scenarios/sumo/loop/ --headless
+    $ singularity instance start --containall --bind ../SMARTS:/src ./utils/singularity/smarts.sif smarts_train /src/examples/e2_single_agent.py /src/scenarios/sumo/loop/ --headless
diff --git a/docs/resources/contributing.rst b/docs/resources/contributing.rst
@@ -145,4 +145,4 @@ Things inevitably become slow, when this happens, Flame Graph is a great tool to
     $ mkdir -p flamegraph_dir
     $ curl https://raw.githubusercontent.com/brendangregg/FlameGraph/master/flamegraph.pl > ./utils/third_party/tools/flamegraph.pl
     $ chmod 777 {$flamegraph_dir}/flamegraph.pl
-    $ make flamegraph scenario=./scenarios/sumo/loop script=./examples/control/chase_via_points.py
+    $ make flamegraph scenario=./scenarios/sumo/loop script=./examples/e2_single_agent.py
diff --git a/docs/sim/visualization.rst b/docs/sim/visualization.rst
@@ -23,7 +23,7 @@ An example is shown below to run SMARTS with Envision.
     # Build scenarios/sumo/loop
     $ scl scenario build --clean scenarios/sumo/loop
     # Run the chase_via_points.py example with the loop scenario
-    $ scl run --envision examples/control/chase_via_points.py scenarios/sumo/loop
+    $ scl run --envision examples/e2_single_agent.py scenarios/sumo/loop
 
 ``--envision`` flag is added to ``scl run`` to enable the Envision server. Visit `http://localhost:8081/ <http://localhost:8081/>`_ in your browser to see the environment visualization. Select the simulator instance in the top left drop-down. If you are using SMARTS on a remote machine you will need to forward port 8081.
 

diff --git a/examples/replay/README.md b/examples/replay/README.md
@@ -3,7 +3,7 @@ This module shows how you can write your own experiments that will allow you to
 
 ## Wrapping your Social Agent
 You need to wrap your social agent using the `ReplayAgent` wrapper to save agent observations and actions at each step.
-Checkout `examples/replay/replay_klws_agent.py` on an example on how you can write your own experiment to replay your agent:
+Look at `examples/replay/replay_klws_agent.py` as an example on how you can write your own experiment to replay your agent:
 ```python
     from smarts.zoo.registry import make as zoo_make
     from zoo import policies

diff --git a/scenarios/INTERACTION/README.md b/scenarios/INTERACTION/README.md
@@ -26,5 +26,5 @@ their level of exactness may not be enough for some model-training situations,
 so you may want or need to refine them with SUMO's [netedit tool](https://sumo.dlr.de/docs/Netedit/index.html).
 
 An example of how traffic history might be replayed in SMARTS can be found in the 
-[examples/smarts/traffic_histories_to_observations.py](../../examples/smarts/traffic_histories_to_observations.py)
+[smarts/dataset/traffic_histories_to_observations.py](../../smarts/dataset/traffic_histories_to_observations.py)
 script.
diff --git a/scenarios/NGSIM/README.md b/scenarios/NGSIM/README.md
@@ -28,5 +28,5 @@ their level of exactness may not be enough for some model-training situations,
 so you may want or need to refine them with SUMO's [netedit tool](https://sumo.dlr.de/docs/Netedit/index.html).
 
 An example of how traffic history might be replayed in SMARTS can be found in the 
-[examples/smarts/traffic_histories_to_observations.py](../../examples/smarts/traffic_histories_to_observations.py)
+[smarts/dataset/traffic_histories_to_observations.py](../../smarts/dataset/traffic_histories_to_observations.py)
 script.