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RAG-Driver

Official GitHub repository for "RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Learning in Multi-Modal Large Language Model " accepted by Robotics: Science and Systems (RSS) 2024.

Highlights <a name="highlight"></a>

RAG-Driver is a Multi-Modal Large Language Model with Retrieval-augmented In-context Learning capacity designed for generalisable and explainable end-to-end driving with strong zeroshot generalisation capacity.

News <a name="highlight"></a>

[2024.06.13] Processed Version of BDD-X is available from here
[2024.05.29] Code update is in Progress, this repo is under active maintenance! Please wait for a few moments!

TODO List

Uploading the processed version of BDDX.
Uploading evaluation pipeline
Uploading the model checkpoint.
Releasing Spoken-SAX dataset.
further cleaning of retrieval engine codebase

Usage

Requirements and Installation

Python >= 3.10
Pytorch == 2.0.1
CUDA Version >= 11.7
Install required packages:

git clone https://github.com/YuanJianhao508/RAG-Driver.git
cd RAG-DRIVER
conda create -n ragdriver python=3.10 -y
conda activate ragdriver
pip install --upgrade pip  # enable PEP 660 support
pip install -e .
pip install -e ".[train]"
pip install flash-attn --no-build-isolation
pip install decord opencv-python git+https://github.com/facebookresearch/pytorchvideo.git@28fe037d212663c6a24f373b94cc5d478c8c1a1d tensorboardX

Instruction Tuning on BDD-X dataset

bash ./scripts/finetune.sh

Download pre-trained Video-LLaVA LLM and projector checkpoint from here and here and specify path in '--model_name_or_path' and '--pretrain_mm_mlp_adapter'.
Download pre-trained LanguageBind encoder from here and here and specify path in '--video_tower' and '--image_tower'.
Change the batch size '--per_device_train_batch_size' and gradient accumulation step '--gradient_accumulation_steps' based on the number of gpu available, please ensure the effective batch size (i.e. --per_device_train_batch_size * gradient accumulation step * number of gpus) equals '128'.

Evaluation

bash ./scripts/batch_inference.sh

Specify path to trained model in 'MODEL_PATH'
Specify path to evaluation file path in '--input'
Specify path to output prediction file path in '--output'

Evaluate Caption Performance

Please download the following files (open-sourced by ADAPT), and extract all files under folder './evalcap' .

Then, run ''' python evaluate.py ''' with the prediction output file version stored in parameter 'version' in script.

Citations

If you find our paper and code useful in your research, please consider citing:

@article{yuan2024rag,
  title={RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Learning in Multi-Modal Large Language Model},
  author={Yuan, Jianhao and Sun, Shuyang and Omeiza, Daniel and Zhao, Bo and Newman, Paul and Kunze, Lars and Gadd, Matthew},
  journal={arXiv preprint arXiv:2402.10828},
  year={2024}
}
}

Acknowledgement

This repo is built on Video-LLaVA, ADAPT, and BDDX. We thank all the authors for their open-sourced codebase and data!