zqzqz/AdvTrajectoryPrediction

Do you have the plan to share the training code?

Closed this issue · 2 comments

zhangxujinsh commented

Thanks

shikharvashistha commented

+1

specifically would like to know, how to train trajectron++ on apolloscape dataset

zqzqz commented

Sorry for not maintaining this repo for a long time. I train the models using dirty hardcodes in the original model repos, so sadly there is no clean scripts. However, I can try my best to provide instructions.

For training trajectron++ on apolloscape:

  1. Change process_data.py to apolloscape version as attached. Originally the file use nuscenes API to generate intermediate data. Now the input will be apolloscape but the output should be in the similar format. As apolloscape lacks physics dynamic information like velocity and heading, some estimation is needed.

  2. The config of training need to be modified. Important variables are prediction_horizon and maximum_history_length determining how long the history and predicted trajectories are.

Attached train_trajectron_on_apolloscape.zip