https://github.com/edbeeching/learning_to_plan
Code for paper "Learning to Plan with Uncertain Topological Maps"
https://github.com/edbeeching/learning_to_plan
Last synced: 11 months ago
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Code for paper "Learning to Plan with Uncertain Topological Maps"
- Host: GitHub
- URL: https://github.com/edbeeching/learning_to_plan
- Owner: edbeeching
- License: mit
- Created: 2020-08-21T09:20:58.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2020-08-28T07:06:57.000Z (almost 6 years ago)
- Last Synced: 2025-02-28T17:46:58.536Z (over 1 year ago)
- Language: Python
- Size: 21.9 MB
- Stars: 11
- Watchers: 3
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Learning to Plan with Uncertain Topological Maps
This repository contains code for paper [Learning to Plan with Uncertain Topological Maps]( https://arxiv.org/abs/2007.05270) ECCV 2020 (Spotlight)
# Contents
* Requirements
* Dataset
* Training
* Pretrained model
* Citation
## Requirements:
pip install -R requirements.txt
## Dataset
The dataset is make available on Zenodo https://zenodo.org/record/4003445
The dataset is 4.8 GB in size
```
mkdir data && cd data
wget -O graph_data3_distance_weights.gz https://zenodo.org/record/4003445/files/file.data?download=1
tar -xvzf graph_data3_distance_weights.gz
```
## Training
Please use the following hyperparameters for training:
```
python train.py --data_path data/graph_data3_distance_weights/train --hidden_size 256 --batch_size 32 --max_grad_norm 2 --weight_decay 0.0001 --lr 0.001 --schedule 120 --n_steps 6 --data_limit 74000 --use_weights --normalize --gru_depth 2 --save_model --bound_update --new_bound_net --store_hidden --use_probs --use_features
```
## Pretrained model
The pretrained model can be found in models/best_model.pth
## Citation
If you find this useful, consider citing the following:
```
@inproceedings{beeching2020learntoplan,
title={Learning to plan with uncertain topological maps.
},
author={Beeching, Edward and Dibangoye, Jilles and
Simonin, Olivier and Wolf, Christian}
booktitle={European Conference on Computer Vision},
year={2020}}
```