This repository contains code for "Multimodal trajectory prediction conditioned on lane-graph traversals" by Nachiket Deo, Eric M. Wolff and Oscar Beijbom, presented at CoRL 2021.

@inproceedings{deo2021multimodal,
  title={Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals},
  author={Deo, Nachiket and Wolff, Eric and Beijbom, Oscar},
  booktitle={5th Annual Conference on Robot Learning},
  year={2021}
}

Note: While I'm one of the authors of the paper, this is an independent re-implementation of the original code developed during an internship at Motional. The code follows the implementation details in the paper. Hope this helps! -Nachiket

1. Clone this repository

2. Set up a new conda environment

conda create --name pgp python=3.7

3. Install dependencies

conda activate pgp

# nuScenes devkit
pip install nuscenes-devkit

# Pytorch: The code has been tested with Pytorch 1.7.1, CUDA 10.1, but should work with newer versions
conda install pytorch==1.7.1 torchvision==0.8.2 torchaudio==0.7.2 cudatoolkit=10.1 -c pytorch

# Additional utilities
pip install ray
pip install psutil
pip install positional-encodings==5.0.0
pip install imageio
pip install tensorboard

1. Download the nuScenes dataset. For this project we just need the following.

   • Metadata for the Trainval split (v1.0)
   • Map expansion pack (v1.3)

2. Organize the nuScenes root directory as follows

└── nuScenes/
    ├── maps/
    |   ├── basemaps/
    |   ├── expansion/
    |   ├── prediction/
    |   ├── 36092f0b03a857c6a3403e25b4b7aab3.png
    |   ├── 37819e65e09e5547b8a3ceaefba56bb2.png
    |   ├── 53992ee3023e5494b90c316c183be829.png
    |   └── 93406b464a165eaba6d9de76ca09f5da.png
    └── v1.0-trainval
        ├── attribute.json
        ├── calibrated_sensor.json
        ...
        └── visibility.json         

3. Run the following script to extract pre-processed data. This speeds up training significantly.

python preprocess.py -c configs/preprocess_nuscenes.yml -r path/to/nuScenes/root/directory -d path/to/directory/with/preprocessed/data

You can download the trained model weights using this link.

To evaluate on the nuScenes val set run the following script. This will generate a text file with evaluation metrics at the specified output directory. The results should match the benchmark entry on Eval.ai.

python evaluate.py -c configs/pgp_gatx2_lvm_traversal.yml -r path/to/nuScenes/root/directory -d path/to/directory/with/preprocessed/data -o path/to/output/directory -w path/to/trained/weights

To visualize predictions run the following script. This will generate gifs for a set of instance tokens (track ids) from nuScenes val at the specified output directory.

python visualize.py -c configs/pgp_gatx2_lvm_traversal.yml -r path/to/nuScenes/root/directory -d path/to/directory/with/preprocessed/data -o path/to/output/directory -w path/to/trained/weights

To train the model from scratch, run

python train.py -c configs/pgp_gatx2_lvm_traversal.yml -r path/to/nuScenes/root/directory -d path/to/directory/with/preprocessed/data -o path/to/output/directory -n 100

The training script will save training checkpoints and tensorboard logs in the output directory.

To launch tensorboard, run

tensorboard --logdir=path/to/output/directory/tensorboard_logs