This repository contains an CNN-based model used in Muñoz Sánchez et al. "Robustness Benchmark of Road User Trajectory Prediction Models for Automated Driving" presented at The 22nd World Congress of the International Federation of Automatic Control (IFAC 2023). This is a forked and adapted repository of MotionCNN. The original README is below.
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UPDATE❗ Related repo with 3rd place solution code for Waymo Motion Prediction Challenge 2022
- Artsiom Sanakoyeu [Homepage] [Twitter] [Telegram Channel] [LinkedIn]
- Stepan Konev [LinkedIn]
- Kirill Brodt [GitHub]
Download
datasets
uncompressed/tf_example/{training,validation,testing}
Change paths to input dataset and output folders
python prerender.py \
--data /home/data/waymo/training \
--out ./train
python prerender.py \
--data /home/data/waymo/validation \
--out ./dev \
--use-vectorize \
--n-shards 1
python prerender.py \
--data /home/data/waymo/testing \
--out ./test \
--use-vectorize \
--n-shards 1
MODEL_NAME=xception71
python train.py \
--train-data ./train \
--dev-data ./dev \
--save ./${MODEL_NAME} \
--model ${MODEL_NAME} \
--img-res 224 \
--in-channels 25 \
--time-limit 80 \
--n-traj 6 \
--lr 0.001 \
--batch-size 48 \
--n-epochs 120
python submit.py \
--test-data ./test/ \
--model-path ${MODEL_PATH_TO_JIT} \
--save ${SAVE}
python visualize.py \
--model ${MODEL_PATH_TO_JIT} \
--data ${DATA_PATH} \
--save ./viz
If you find our work useful, please cite it as:
@article{konev2021motioncnn,
title={MotionCNN: A Strong Baseline for Motion Prediction in Autonomous Driving},
author={Konev, Stepan and Brodt, Kirill and Sanakoyeu, Artsiom},
year={2021}
booktitle={Workshop on Autonomous Driving, CVPR}
}