[xyd/codriving] add planning

[MARMOTatZJU]

• planning dataset
  • CarlaMVDatasetWithGTInput
• planning loss
  • CompoundLoss: for multitask learning
  • WaypoinLoss: current planner's loss
• planning model
• create common lib
  • make some utility function shared across different modules
• reorganize registry in codriving
  • move codriving's registry
  • register planning model
• training script and related utils
  • support DDP
  • train / validate / checkpoint
  • bash script
• comprehensivew registration of PyTorch's module
• a sample YAML config
• utils: load YAml CONIFG random seed
• gitignore: ignore folders