Preparation

set up python environment

We provide the environment with the amazing tool pixi. You can set up the python environment as simple as running pixi install

download EuRoC dataset

python scripts/get_euroc.py --target_dir "euroc_dataset"

Training and Evaluation

• train:

  python model.py --mode train --name my_experiment --dataset euroc --rate_mode imu_rate

• evaluation

  python model.py --mode infer --name my_experiment --dataset euroc --rate_mode imu_rate

Acknowledgement

We thank AirIMU and HuggingFace diffusers for making their codebase open-source. Our code is built on top of them, for loading EuRoC dataset and building diffusion model network respectively.