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10708-diffusion's Introduction

10708-diffusion

As a 10708 PGM project, this repo contains implementations of

  • VQVAE
  • Discrete Diffusion
  • Continuous Diffusion
    • Linear/Quadratic Noise Schedules
    • Heun's 2nd Order Method

File Structure

  • models
    • diffusion:
      • continous_new.py: contains the two architectures we mentioned in the report
      • continuous.py
      • diffusion_utils.py
      • diffusion_transformers.py
    • diffusion_continuous.py: this is the main class to initialize the trajectory prediction networks
    • vqvae.py: contains VQVAE

Setting up the Environment

Setting up CARLA

mkdir carla
cd carla
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.1.tar.gz
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.10.1.tar.gz
tar -xf CARLA_0.9.10.1.tar.gz
tar -xf AdditionalMaps_0.9.10.1.tar.gz
rm CARLA_0.9.10.1.tar.gz
rm AdditionalMaps_0.9.10.1.tar.gz
cd ..

Collecting the Dataset

# without display
SDL_VIDEODRIVER=offscreen SDL_HINT_CUDA_DEVICE=0 ./carla/CarlaUE4.sh --world-port=2000 -opengl

Running the Code

Training the model

python scripts/leaderboard/wp_IL/train_diffusion_continuous.py gpu=[0,1,2,3]

Running the agent

python leaderboard/scripts/run_evaluation.py user=$USER experiments=diffusion eval=longest6

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