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

Related tags

Deep LearningDG-TrajGen
Overview

DG-TrajGen

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

arXiv Project YouTube Bilibili License: MIT

Our Method

structure

  • 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

comp

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

carla

ClearNoon WetCloudySunset HardRainSunset HeavyFogMorning

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}
}
You might also like...
Official implementation of paper Gradient Matching for Domain Generalization
Official implementation of paper Gradient Matching for Domain Generalization

Gradient Matching for Domain Generalisation This is the official PyTorch implementation of Gradient Matching for Domain Generalisation. In our paper,

null 94 Dec 23, 2022
Official implementation of
Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" (RSS 2022)

Intro Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" Robotics:Science and

Yunho Kim 21 Dec 7, 2022
Offcial repository for the IEEE ICRA 2021 paper Auto-Tuned Sim-to-Real Transfer.

Offcial repository for the IEEE ICRA 2021 paper Auto-Tuned Sim-to-Real Transfer.

null 47 Jun 30, 2022
SafePicking: Learning Safe Object Extraction via Object-Level Mapping, ICRA 2022
SafePicking: Learning Safe Object Extraction via Object-Level Mapping, ICRA 2022

SafePicking Learning Safe Object Extraction via Object-Level Mapping Kentaro Wad

Kentaro Wada 49 Oct 24, 2022
[ICRA 2022] CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
[ICRA 2022] CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation

This is the official implementation of our paper: Bowen Wen, Wenzhao Lian, Kostas Bekris, and Stefan Schaal. "CaTGrasp: Learning Category-Level Task-R

Bowen Wen 199 Jan 4, 2023
the official code for ICRA 2021 Paper:
the official code for ICRA 2021 Paper: "Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation"

G2S This is the official code for ICRA 2021 Paper: Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation by Hemang

NeurAI 4 Jul 27, 2022
Official PyTorch implementation of the ICRA 2021 paper: Adversarial Differentiable Data Augmentation for Autonomous Systems.

Adversarial Differentiable Data Augmentation This repository provides the official PyTorch implementation of the ICRA 2021 paper: Adversarial Differen

Manli 3 Oct 15, 2022
This is the official code of our paper
This is the official code of our paper "Diversity-based Trajectory and Goal Selection with Hindsight Experience Relay" (PRICAI 2021)

Diversity-based Trajectory and Goal Selection with Hindsight Experience Replay This is the official implementation of our paper "Diversity-based Traje

Tianhong Dai 6 Jul 18, 2022
Official repository of the AAAI'2022 paper "Contrast and Generation Make BART a Good Dialogue Emotion Recognizer"

CoG-BART Contrast and Generation Make BART a Good Dialogue Emotion Recognizer Quick Start: To run the model on test sets of four datasets, Download th

null 39 Dec 24, 2022
Comments
  • no module named 'rllib.basic'

    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

    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
Releases(model)
Owner
Wang
Postgraduate of Zhejiang University, majoring in Control Science and Engineering.
Wang
GitHub Repository
Unity Propagation in Bayesian Networks Handling Inconsistency via Unity Smoothing

This repository contains the scripts needed to generate the results from the paper Unity Propagation in Bayesian Networks Handling Inconsistency via U

0 Jan 19, 2022
[NeurIPS 2021] "G-PATE: Scalable Differentially Private Data Generator via Private Aggregation of Teacher Discriminators"

G-PATE This is the official code base for our NeurIPS 2021 paper: "G-PATE: Scalable Differentially Private Data Generator via Private Aggregation of T

AI Secure 14 Oct 12, 2022
Codes for our IJCAI21 paper: Dialogue Discourse-Aware Graph Model and Data Augmentation for Meeting Summarization

DDAMS This is the pytorch code for our IJCAI 2021 paper Dialogue Discourse-Aware Graph Model and Data Augmentation for Meeting Summarization [Arxiv Pr

xcfeng 55 Dec 27, 2022
Official git for "CTAB-GAN: Effective Table Data Synthesizing"

CTAB-GAN This is the official git paper CTAB-GAN: Effective Table Data Synthesizing. The paper is published on Asian Conference on Machine Learning (A

30 Dec 26, 2022
Removing Inter-Experimental Variability from Functional Data in Systems Neuroscience

Removing Inter-Experimental Variability from Functional Data in Systems Neuroscience This repository is the official implementation of [https://www.bi

Eulerlab 6 Oct 09, 2022
Bayesian Optimization using GPflow

Note: This package is for use with GPFlow 1. For Bayesian optimization using GPFlow 2 please see Trieste, a joint effort with Secondmind. GPflowOpt GP

GPflow 257 Dec 26, 2022
RMNA: A Neighbor Aggregation-Based Knowledge Graph Representation Learning Model Using Rule Mining

RMNA: A Neighbor Aggregation-Based Knowledge Graph Representation Learning Model Using Rule Mining Our code is based on Learning Attention-based Embed

宋朝都 4 Aug 07, 2022
Extreme Lightwegith Portrait Segmentation

Extreme Lightwegith Portrait Segmentation Please go to this link to download code Requirements python 3 pytorch = 0.4.1 torchvision==0.2.1 opencv-pyt

HYOJINPARK 59 Dec 16, 2022
A curated list of awesome neural radiance fields papers

Awesome Neural Radiance Fields A curated list of awesome neural radiance fields papers, inspired by awesome-computer-vision. How to submit a pull requ

Yen-Chen Lin 3.9k Dec 27, 2022
An official implementation of MobileStyleGAN in PyTorch

MobileStyleGAN: A Lightweight Convolutional Neural Network for High-Fidelity Image Synthesis Official PyTorch Implementation The accompanying videos c

Sergei Belousov 602 Jan 07, 2023
IPATool-py: download ipa easily

IPATool-py Python version of IPATool! Installation pip3 install -r requirements.txt Usage Quickstart: download app with specific bundleId into DIR: p

159 Dec 30, 2022
Exemplo de implementação do padrão circuit breaker em python

fast-circuit-breaker Circuit breakers existem para permitir que uma parte do seu sistema falhe sem destruir todo seu ecossistema de serviços. Michael

James G Silva 17 Nov 10, 2022
Two-stage CenterNet

Probabilistic two-stage detection Two-stage object detectors that use class-agnostic one-stage detectors as the proposal network. Probabilistic two-st

Xingyi Zhou 1.1k Jan 03, 2023
TyXe: Pyro-based BNNs for Pytorch users

TyXe: Pyro-based BNNs for Pytorch users TyXe aims to simplify the process of turning Pytorch neural networks into Bayesian neural networks by leveragi

87 Jan 03, 2023
Omniverse sample scripts - A guide for developing with Python scripts on NVIDIA Ominverse

Omniverse sample scripts ここでは、NVIDIA Omniverse ( https://www.nvidia.com/ja-jp/om

ft-lab (Yutaka Yoshisaka) 37 Nov 17, 2022
This is a Keras implementation of a CNN for estimating age, gender and mask from a camera.

face-detector-age-gender This is a Keras implementation of a CNN for estimating age, gender and mask from a camera. Before run face detector app, expr

Devdreamsolution 2 Dec 04, 2021
Research code for CVPR 2021 paper "End-to-End Human Pose and Mesh Reconstruction with Transformers"

MeshTransformer ✨ This is our research code of End-to-End Human Pose and Mesh Reconstruction with Transformers. MEsh TRansfOrmer is a simple yet effec

Microsoft 473 Dec 31, 2022
Implement object segmentation on images using HOG algorithm proposed in CVPR 2005

HOG Algorithm Implementation Description HOG (Histograms of Oriented Gradients) Algorithm is an algorithm aiming to realize object segmentation (edge

Leo Hsieh 2 Mar 12, 2022
The code of Zero-shot learning for low-light image enhancement based on dual iteration

Zero-shot-dual-iter-LLE The code of Zero-shot learning for low-light image enhancement based on dual iteration. You can get the real night image tests

1 Mar 18, 2022
SOLOv2 on onnx & tensorRT

SOLOv2.tensorRT: NOTE: code based on WXinlong/SOLO add support to TensorRT inference onnxruntime tensorRT full_dims and dynamic shape postprocess with

47 Nov 26, 2022