Cogrob Trajectron++ Mods

This repo contains code for 6.832's Grand Challenge (Spring 2020). This team focused on Intent Recognition and this paper. This repo contains code relevant to the Trajectron++ portion of the project. This code seperate from the rest of the team's work as it needs to be placed in a specific subdirectory of the Trajectron++ file structure to function properly. The rest of the team's code can be found here.

Repo Structure

• ./notebooks: Contains the Jupyter Notebooks for running the code in this repo. The notebooks are numbered in the order you should run them. Read through them for additional documentation/explainations.
• ./modified-trajectron: Contains the modified versions and .diff files for mgcvae.py and trajectron.py. See section below for additional explanation.
• ./data: Contains directories for inputs and outputs to the notebooks. Read the notebooks to understand what files should be place/will appear in which directory.

Setup

1. Clone Trajectron++ and follow its setup instruction. Make sure to setup the conda environment and add the Python kernel to Jupyter.
2. Clone this repo into the Trajectron++ file structure. Specifically, this repo's directory should reside in Trajectron-plus-plus/experiments/ directory.
3. Modify the two Trajectron++ source files mgcvae.py and trajectron.py as outlined in the below.
4. Run jupyter-notebook in this directory and navigate to the ./notebooks directory.
5. Run through the notebooks, in numbered order, selectively running the cells you desire. Make sure to enable the Python Kernel you made during the Trajectron++ installation process.

Plotting Modifications to Trajectron++ Source:

The Notebook 02_Evaluate-Data.ipynb runs Trajectron++ prediction with Trajectron++'s eval_stg.predict() function and produces plots of the results. To expose additional information to the plotting interface, two Trajectron++ source files needed to be modified. Specifically, the following files were modified:

• Trajectron-plus-plus/trajectron/model/mgcvae.py
• Trajectron-plus-plus/trajectron/model/trajectron.py

The modified versions of these files can be found in the ./modified-trajectron directory along with their .diff files. Before running this Notebook, make sure these modifications end up in your working copy of Trajectron++. This can be done by simply replacing the stock Trajectron++ files with the provided files. Alternatively, you can apply the provided diffs.

Training Modifications to Trajectron++ Source:

Training a Trajectron++ model is not required for the notebooks to work (i.e. by default the notebooks use the pretrained Trajectron-plus-plus/experiments/nuScenes/models/int_ee model). That being said, if you do want to try training your own model with a CPU, make sure to modify Trajectron-plus-plus/trajectron/train.py as noted in the Trajectron++ README

Special Thanks

Special thanks to Boris Ivanovic for his help getting Trajectron++ running!