The pytorch code for ICRA2020 paper CMTS: Conditional Multiple Trajectory Synthesizer for Generating Safety-critical Driving Scenarios
Python 3.7
Pytorch 1.0
The processed Argoverse dataset can be downloaded with this Link. After downloading the data files (two for trajectories, two for maps), you need to put them into the data folder.
Some tools for visualization are provided in tools folder. This tools will read the files from sample folder, which are saved during the training or generate stage.
The structure of our model is shown below. The tool used to draw this structure is Blender, which is an open-source 3D modeling tool.
Some interpolation examples are shown below:
