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OPGP

This repo is the implementation of:

Occupancy Prediction-Guided Neural Planner for Autonomous Driving <br> Haochen Liu, Zhiyu Huang, Chen Lv <br> AutoMan Research Lab, Nanyang Technological University <br> [Paper]  [arXiv]  [Zhihu] 

Overview

In this repository, you can expect to find the following features 🤩:

Not included 😵:

Experiment Pipelines

Dataset and Environment

Data Process

python preprocess.py \
--root_dir path/to/your/Waymo_Dataset/scenario/ \
--save_dir path/to/your/processed_data/ \
--processes=16

Training & Testing

python -m torch.distributed.launch \
        --nproc_per_node 1 \ # number of gpus
        --master_port 16666 \
        training.py \
        --data_dir path/to/your/processed_data/ \
        --save_dir path/to/save/your/logs/
python testing.py \
        --data_dir path/to/your/testing_data/ \
        --model_dir path/to/pretrained/model/

Citation

If you find this repository useful for your research, please consider giving us a star 🌟 and citing our paper.

@inproceedings{liu2023occupancy,
  title={Occupancy prediction-guided neural planner for autonomous driving},
  author={Liu, Haochen and Huang, Zhiyu and Lv, Chen},
  booktitle={2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)},
  pages={4859--4865},
  year={2023},
  organization={IEEE}
}