[arXiv] What-If Motion Prediction for Autonomous Driving β“πŸš—πŸ’¨

Related tags

Deep Learningpredictionself-driving-carautonomous-drivingautonomous-vehiclestrajectory-prediction
Overview

WIMP - What If Motion Predictor

Reference PyTorch Implementation for What If Motion Prediction [PDF] [Dynamic Visualizations]

Setup

Requirements

The WIMP reference implementation and setup procedure has been tested to work with Ubuntu 16.04+ and has the following requirements:

  1. python >= 3.7
  2. pytorch >= 1.5.0

Installing Dependencies

  1. Install remaining required Python dependencies using pip.

    pip install -r requirements.txt

  2. Install the Argoverse API module into the local Python environment by following steps 1, 2, and 4 in the README.

Argoverse Data

In order to set up the Argoverse dataset for training and evaluation, follow the steps below:

  1. Download the the Argoverse Motion Forecasting v1.1 dataset and extract the compressed data subsets such that the raw CSV files are stored in the following directory structure:

    β”œβ”€β”€ WIMP
β”‚   β”œβ”€β”€ src
β”‚   β”œβ”€β”€ scripts
β”‚   β”œβ”€β”€ data
β”‚   β”‚   β”œβ”€β”€ argoverse_raw
β”‚   β”‚   β”‚   β”œβ”€β”€ train
β”‚   β”‚   β”‚   β”‚   β”œβ”€β”€ *.csv
β”‚   β”‚   β”‚   β”œβ”€β”€ val
β”‚   β”‚   β”‚   β”‚   β”œβ”€β”€ *.csv
β”‚   β”‚   β”‚   β”œβ”€β”€ test
β”‚   β”‚   β”‚   β”‚   β”œβ”€β”€ *.csv

  2. Pre-process the raw Argoverse data into a WIMP-compatible format by running the following script. It should be noted that the Argoverse dataset is quite large and this script may take a few hours to run on a multi-threaded machine.

    python scripts/run_preprocess.py --dataroot ./data/argoverse_raw/ \
--mode val --save-dir ./data/argoverse_processed --social-features \
--map-features --xy-features --normalize --extra-map-features \
--compute-all --generate-candidate-centerlines 6

Usage

For a detailed description of all possible configuration arguments, please run scripts with the -h flag.

Training

To train WIMP from scratch using a configuration similar to that reported in the paper, run a variant of the following command:

python src/main.py --mode train --dataroot ./data/argoverse_processed --IFC \
--lr 0.0001 --weight-decay 0.0 --non-linearity relu  --use-centerline-features \
--segment-CL-Encoder-Prob --num-mixtures 6 --output-conv --output-prediction \
--gradient-clipping --hidden-key-generator --k-value-threshold 10 \
--scheduler-step-size 60 90 120 150 180  --distributed-backend ddp \
--experiment-name example --gpus 4 --batch-size 25

Citing

If you've found this code to be useful, please consider citing our paper!

@article{khandelwal2020if,
  title={What-If Motion Prediction for Autonomous Driving},
  author={Khandelwal, Siddhesh and Qi, William and Singh, Jagjeet and Hartnett, Andrew and Ramanan, Deva},
  journal={arXiv preprint arXiv:2008.10587},
  year={2020}
}

Questions

This repo is maintained by William Qi and Siddhesh Khandelwal - please feel free to reach out or open an issue if you have additional questions/concerns.

We plan to clean up the codebase and add some additional utilities (possibly NuScenes data loaders and inference/visualization tools) in the near future, but don't expect to make significant breaking changes.

Comments
  • Pandas Error runpreprocess.py

    Pandas Error runpreprocess.py

    Hello! First of all, thank you for making your code available for the readers of your great paper. I am having an issue while running run_preprocess.py. I think while reading the csv something goes wrong since my error is a pandas error. When I try to run the script, it gives me: KeyError: 'CITY_NAME' When I go to the script and give "MIA" as the CITY_NAME, just to see what happens, I receive a similar error: KeyError: 'OBJECT_TYPE' I checked the paths for the data. It seems fine. What could be the reason? Thank you!

    opened by ahmetgurhan 0
  • Loss dimensions

    Loss dimensions

    Hi, thank you so much for your fantastic work.

    Which is the order, and the dimensions, in this function?

    def l1_ewta_loss(prediction, target, k=6, eps=1e-7, mr=2.0):
    num_mixtures = prediction.shape[1]

    target = target.unsqueeze(1).expand(-1, num_mixtures, -1, -1)
    l1_loss = nn.functional.l1_loss(prediction, target, reduction='none').sum(dim=[2, 3])

    # Get loss from top-k mixtures for each timestep
    mixture_loss_sorted, mixture_ranks = torch.sort(l1_loss, descending=False)
    mixture_loss_topk = mixture_loss_sorted.narrow(1, 0, k)

    # Aggregate loss across timesteps and batch
    loss = mixture_loss_topk.sum()
    loss = loss / target.size(0)
    loss = loss / target.size(2)
    loss = loss / k
    return loss

    I am not able to obtain good results compared to NLL. I have as inputs:

    predictions: batch_size x num_modes x pred_len x data_dim (e.g. 1024 x 6 x 30 x 2) gt: batch_size x pred_len x data_dim (e.g. 1024 x 30 x 2)

    Is this correct?

    opened by Cram3r95 0
  • Reproducing the Map-Free and only Social-Context Results form the Ablation Study

    Reproducing the Map-Free and only Social-Context Results form the Ablation Study

    Hey there,

    I want to reproduce the results of your ablation study, where you only used Social-Context with EWTA-Loss.

    image

    However, I habe problems training the model only with social context. What are the correct flags I need to set for preprocessing (run_preprocess.py) and for training (main.py)?

    Looking forward hearing from you soon!

    Best regards

    SchDevel

    opened by SchDevel 2
  • Can I get your inference/visualization code?

    Can I get your inference/visualization code?

    Hi, first of all, thanks for your awesome work and sharing that to us.

    I tried to make inference/visualization code by myself, unfortunately, there were some problems.

    Maybe library's mismatching, my insufficient coding skills, or something else.

    So, can i get your inference/visualization code or even skeleton base code?

    opened by raspbe34 3
  • What is the method for incomplete trajectories?

    What is the method for incomplete trajectories?

    Hi, thanks for sharing your great work~ I am wondering how you deal with the incomplete trajectories problem (agents have less then 2 seconds of history).

    1. I notice that for the neighboring agent wrt focal agent, you discard all the agents (code) if their trajectories are not complete
    2. how would you deal with those incomplete trajectories for the focal agent? Did you use interpolation or some techniques?

    Thanks!

    opened by XHwind 0
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