Dataset

Download the Waymo Open Motion Dataset v1.1; only the files in uncompressed/scenario/training_20s are needed. Place the downloaded files into training and testing folders separately.

Installation

Install dependency

sudo apt-get install libsuitesparse-dev

Create conda env

conda env create -f environment.yml
conda activate DIPP

Install Theseus

Install the Theseus library, follow the guidelines.

Usage

Data Processing

Run data_process.py to process the raw data for training. This will convert the original data format into a set of .npz files, each containing the data of a scene with the AV and surrounding agents. You need to specify the file path to the original data --load_path and the path to save the processed data --save_path . You can optionally set --use_multiprocessing to speed up the processing.

bash data_process.sh

Training

Run bash train.sh to learn the predictor. You need to specify the file paths to training data --train_set and validation data --valid_set. Leave other arguments vacant to use the default setting.

bash train.sh

Validation

Run bash valid.sh to do validation for the predictor.

bash valid.sh

visualization

Run bash visualization.shto generate the demo video of the scene.

bash visualization.sh