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
[CVPR 2022] Pytorch implementation of "Templates for 3D Object Pose Estimation Revisited: Generalization to New objects and Robustness to Occlusions" paper

template-pose Pytorch implementation of "Templates for 3D Object Pose Estimation Revisited: Generalization to New objects and Robustness to Occlusions

Van Nguyen Nguyen 92 Dec 28, 2022
Official implementation of the network presented in the paper "M4Depth: A motion-based approach for monocular depth estimation on video sequences"

M4Depth This is the reference TensorFlow implementation for training and testing depth estimation models using the method described in M4Depth: A moti

Michaël Fonder 76 Jan 03, 2023
Implementation of E(n)-Transformer, which extends the ideas of Welling's E(n)-Equivariant Graph Neural Network to attention

E(n)-Equivariant Transformer (wip) Implementation of E(n)-Equivariant Transformer, which extends the ideas from Welling's E(n)-Equivariant G

Phil Wang 132 Jan 02, 2023
Barbershop: GAN-based Image Compositing using Segmentation Masks (SIGGRAPH Asia 2021)

Barbershop: GAN-based Image Compositing using Segmentation Masks Barbershop: GAN-based Image Compositing using Segmentation Masks Peihao Zhu, Rameen A

Peihao Zhu 928 Dec 30, 2022
CS5242_2021 - Neural Networks and Deep Learning, NUS CS5242, 2021

CS5242_2021 Neural Networks and Deep Learning, NUS CS5242, 2021 Cloud Machine #1 : Google Colab (Free GPU) Follow this Notebook installation : https:/

Xavier Bresson 165 Oct 25, 2022
Code for "Human Pose Regression with Residual Log-likelihood Estimation", ICCV 2021 Oral

Human Pose Regression with Residual Log-likelihood Estimation [Paper] [arXiv] [Project Page] Human Pose Regression with Residual Log-likelihood Estima

JeffLi 347 Dec 24, 2022
Auditing Black-Box Prediction Models for Data Minimization Compliance

Data-Minimization-Auditor An auditing tool for model-instability based data minimization that is introduced in "Auditing Black-Box Prediction Models f

Bashir Rastegarpanah 2 Mar 24, 2022
project page for VinVL

VinVL: Revisiting Visual Representations in Vision-Language Models Updates 02/28/2021: Project page built. Introduction This repository is the project

308 Jan 09, 2023
Source code for "Pack Together: Entity and Relation Extraction with Levitated Marker"

PL-Marker Source code for Pack Together: Entity and Relation Extraction with Levitated Marker. Quick links Overview Setup Install Dependencies Data Pr

THUNLP 173 Dec 30, 2022
PyTorch implementations of Generative Adversarial Networks.

This repository has gone stale as I unfortunately do not have the time to maintain it anymore. If you would like to continue the development of it as

Erik Linder-Norén 13.4k Jan 08, 2023
VarCLR: Variable Semantic Representation Pre-training via Contrastive Learning

    VarCLR: Variable Representation Pre-training via Contrastive Learning New: Paper accepted by ICSE 2022. Preprint at arXiv! This repository contain

squaresLab 32 Oct 24, 2022
library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization

NLopt is a library for nonlinear local and global optimization, for functions with and without gradient information. It is designed as a simple, unifi

Steven G. Johnson 1.4k Dec 25, 2022
This is an open solution to the Home Credit Default Risk challenge 🏡

Home Credit Default Risk: Open Solution This is an open solution to the Home Credit Default Risk challenge 🏡 . More competitions 🎇 Check collection

minerva.ml 427 Dec 27, 2022
[内测中]前向式Python环境快捷封装工具，快速将Python打包为EXE并添加CUDA、NoAVX等支持。

QPT - Quick packaging tool 快捷封装工具 GitHub主页 | Gitee主页 QPT是一款可以“模拟”开发环境的多功能封装工具，最短只需一行命令即可将普通的Python脚本打包成EXE可执行程序，并选择性添加CUDA和NoAVX的支持，尽可能兼容更多的用户环境。 感觉还可

QPT Family 545 Dec 28, 2022
Unofficial TensorFlow implementation of the Keyword Spotting Transformer model

Keyword Spotting Transformer This is the unofficial TensorFlow implementation of the Keyword Spotting Transformer model. This model is used to train o

Intelligent Machines Limited 8 May 11, 2022
A PyTorch Implementation of "SINE: Scalable Incomplete Network Embedding" (ICDM 2018).

Scalable Incomplete Network Embedding ⠀⠀ A PyTorch implementation of Scalable Incomplete Network Embedding (ICDM 2018). Abstract Attributed network em

Benedek Rozemberczki 69 Sep 22, 2022
Evolutionary Population Curriculum for Scaling Multi-Agent Reinforcement Learning

Evolutionary Population Curriculum for Scaling Multi-Agent Reinforcement Learning This is the code for implementing the MADDPG algorithm presented in

97 Dec 21, 2022
[CVPR2022] Representation Compensation Networks for Continual Semantic Segmentation

RCIL [CVPR2022] Representation Compensation Networks for Continual Semantic Segmentation Chang-Bin Zhang1, Jia-Wen Xiao1, Xialei Liu1, Ying-Cong Chen2

Chang-Bin Zhang 71 Dec 28, 2022
DPT: Deformable Patch-based Transformer for Visual Recognition (ACM MM2021)

DPT This repo is the official implementation of DPT: Deformable Patch-based Transformer for Visual Recognition (ACM MM2021). We provide code and model

CASIA-IVA-Lab 111 Dec 21, 2022
A Pytorch implementation of "Manifold Matching via Deep Metric Learning for Generative Modeling" (ICCV 2021)

Manifold Matching via Deep Metric Learning for Generative Modeling A Pytorch implementation of "Manifold Matching via Deep Metric Learning for Generat

69 Dec 10, 2022