[Arxiv] [Project page]

✨ News

• 2025.10.24: Our Robot Trajectron V2 wins Best Poster Award 3rd place in 2025 IROS SASA workshop

🔧 Environment

• numpy==1.24.4
• tqdm==4.45.0
• matplotlib==3.7.2
• opencv-python==4.8.0.74
• scikit-learn==0.22.1
• scipy==1.10.1
• seaborn==0.12.2
• torch==2.0.0
• CUDA==11.7
• torchvision==0.15.1
• pybullet

📊 Dataset

$ ./data_collection_dist.sh NUM_PROCS TOTAL_DATA DATA_DIR

📈 Train

$ python main.py --eval_every 10 --vis_every 10 --preprocess_workers 0 --batch_size 256 --log_dir experiments/RobotTrajectron/models --train_epochs 100 --conf config/config.json --data_path /path/to/dataset

🎯 Test

$ python evaluate.py --batch_size 256 --conf config/config_test.json --data_path /path/to/dataset --checkpoint /path/to/checkpoint

👀 Visualization

$ python visualization.py --conf config/config_test.json --data_path /path/to/dataset --checkpoint /path/to/checkpoint

🕹️ Shared Control

Please see: https://github.com/mousecpn/RTV2_ws