The official repository for paper ''Domain Generalization for Vision-based Driving Trajectory Generation'' submitted to ICRA 2022

Last update: Sep 26, 2022

Related tags

Deep Learning DG-TrajGen

Overview

DG-TrajGen

The official repository for paper ''Domain Generalization for Vision-based Driving Trajectory Generation'' submitted to ICRA 2022.

Our Method

Trajectory representation:
- Model: ./learning/model.py/Generator
Latent Action Space Learning:
- Generator model: ./learning/model.py/Generator
- Discriminator model: ./learning/model.py/Discriminator
- Training: ./scripts/Ours/stage1_train_GAN.py
Encoder Pre-training:
- Training: ./scripts/Ours/stage2_pretrain_encoder.py
End-to-End Training the Encoder:
- Training: ./scripts/Ours/stage3_train_e2e.py

Comparative Study

RIP:
- Training: ./scripts/RIP/train.py
- Referenced official code: github
- Paper: arxiv
MixStyle:
- Training: ./scripts/MixStyle/train.py
- Referenced official code: github
- Paper: arxiv
DIVA:
- Training: ./scripts/DIVA/train.py
- Referenced official code: github
- Paper: arxiv
DAL:
- Training: ./scripts/DAL/train.py
E2E NT:
- Training: ./scripts/E2ENT/train.py
- Referenced official code: github
- Paper: arxiv

Closed-loop Experiments:

We train the model on the Oxford RobotCar dataset and directly generalize it to the CARLA simulation.

Run: ./scripts/CARLA/run_ours.py

Citation

If you use our source code, please consider citing the following:

@article{wang2021domain,
  title={Domain Generalization for Vision-based Driving Trajectory Generation},
  author={Wang, Yunkai and Zhang, Dongkun and Cui, Yuxiang and Chen, Zexi and Jing, Wei and Chen, Junbo and Xiong, Rong and Wang, Yue},
  journal={arXiv preprint arXiv:2109.13858},
  year={2021}
}

Comments

no module named 'rllib.basic'

Hello, when I try to run stage1_train_GAN.py, there will be an error: "no module named 'rllib.basic' ", when I try to check the error, I found that it is in the system folder under Carla_utils There was an error in init.py. At first, when I tried to pip install, I would get error: no matching distribution found for rllib.basic. Is this a library or something? Thanks again for being able to see my question, looking forward to your answer

opened by hickey23 0
Some files are missing

Thank you for sharing your code, but it seems that some files such as "carla_utils" and "robo_utils" and the corresponding pth files are missing, which makes it impossible to train or run "run_ours.py"......

opened by JSLOUJSKOU 2

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model(Dec 14, 2021)

64 dim, trained on the Oxford RobotCar dataset
Source code(tar.gz)
Source code(zip)
generator.pth(2.63 MB)
dataset(Dec 14, 2021)

Extract to ./robo_utils/oxford/
Source code(tar.gz)
Source code(zip)
models.zip(67.46 MB)

The official repository for paper ''Domain Generalization for Vision-based Driving Trajectory Generation'' submitted to ICRA 2022

Related tags

Overview

DG-TrajGen

Our Method

Comparative Study

Closed-loop Experiments:

Citation

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Comments

no module named 'rllib.basic'

Some files are missing

Releases(model)

model(Dec 14, 2021)

dataset(Dec 14, 2021)

Owner

Wang

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