This is the official repo for the paper:
Yildiz, A., Yel, E., Corso, A., Wray, K., Witwicki, S., Kochenderfer, M., "Experience Filter: Using Past Experiences on Unseen Tasks or Environments", in IEEE Intelligent Vechicles Symposium (2023).
This is done using the class defined in ExperienceFilter.py. A few test scripts can be found in the test folder.
This is done using the MODIA.jl module. To instantiate an untrained POMDP, run the script instantiate_stop_uncontrolled_pomdp.jl.
The behavior of the ego vehicle in CARLA can be controlled using the MODIAAgent defined in modia_agent.py, which at each timestep, queries the policy solved for the defined POMDP. A few test scripts can be found in the test folder.
After installing CARLA, run it. Then, different scenario types can be run and recorded using the record_scenario_histories.py script.
This operation takes some time.
Using the seen data, POMDP policies are learned through the history_learner.jl script.
After installing CARLA, run it. Then, using the benchmark_policy.py, a POMDP object instantiated in Julia is automatically imported into the Python script. To make it easier to benchmark, the data required for the Experience Filter have been stored in the filter_data_All.pkl, which is loaded automatically. This operation takes some time, but its results have already been stored in benchmark_records.csv.
To plot policy maps, the script plot_funcs.jl can be used. To plot scoring metrics, the script plot_funcs.py can be used.
The nodes folder contains scripts that act standalone to navigate easier inside CARLA. The purpose of each node is explained in its preamble.
The CARLA simulator is not installed properly; it is not being detected by the API, check the installation manual for CARLA. Or you forgot to run CARLA before running one of the Python scripts.
You need to have the julia.api installed correctly in order to call Julia within Python; this article might help. You also need to have the Julia dependencies installed for the MODIA.jl module to work. Try running julia MODIA.jl in a new terminal to check if the module itself can be compiled. Then, try running julia instantiate_stop_uncontrolled_pomdp.jl to check if the POMDP can be created and solved properly.