Robot-Trajectron

The official implementation of Robot Trajectron, which is accepted by ICRA2024: https://arxiv.org/pdf/2402.02499.pdf

Environment

• numpy==1.24.4
• tqdm==4.45.0
• matplotlib==3.7.2
• opencv-python==4.8.0.74
• scikit-learn==0.22.1
• scipy==1.10.1
• seaborn==0.12.2
• torch==2.0.0
• CUDA==11.7
• torchvision==0.15.1

Dataset

Traj100k: https://github.com/mousecpn/Traj100k-Dataset.git

Train

$ python main.py --eval_every 10 --vis_every 10 --preprocess_workers 0 --batch_size 256 --log_dir experiments/RobotTrajectron/models --train_epochs 100 --conf config/config.json --data_path /path/to/dataset

Test

$ python evalute.py --batch_size 256 --conf config/test_config.json --data_path /path/to/dataset --checkpoint /path/to/checkpoint

Visualization

$ python visualization.py --conf config/test_config.json --data_path /path/to/dataset --checkpoint /path/to/checkpoint

Shared Control

The code is in https://github.com/mousecpn/RT_ws.git