InteractionImitation

Imitation Learning with the INTERACTION Dataset

Getting started

Clone InteractionSimulator and pip install the module.

git clone https://github.com/sisl/InteractionSimulator.git
cd InteractionSimulator
pip install -e .
cd ..
export PYTHONPATH=$(pwd):$PYTHONPATH

Install additional requirements

pip install -r requirements.txt

Copy INTERACTION Dataset files: The INTERACTION dataset contains a two folders which should be copied into a folder called ./InteractionSimulator/datasets:

• the contents of recorded_trackfiles should be copied to ./InteractionSimulator/datasets/trackfiles
• the contents of maps should be copied to ./InteractionSimulator/datasets/maps

Package Structure

InteractionImitation
|- demos
|- algorithms
   |- BC
   |- AdVIL
|- nets
   |- Encoder
   |- DeepSet
   |- Decoder
|- policies
|- discriminators
|- demo_generators

Type Definitions

Demo: List[Trajectory]
Trajectory: List[Tuple[Observation, Action]] # single expert
Observation: Dict[
  'own_state': [x, y, v, psi, psidot],
  'relative_states': List[[xr, yr, vr, psir, psidotr]],
  'own_path': List[[xr, yr]], # fixed length, constant dt
  'map': Map, # relative
]
Action: Range[0, 1]
Policy: Union[
  Callable[[Observation], Action],
  Callable[[Observation, Action], probability],
]
Discriminator: Callable[[Observation, Action], value]
Map: Dictionary[...]