nachiket92 / PGP

Code for "Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals," CoRL 2021.
https://proceedings.mlr.press/v164/deo22a.html
MIT License
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Added a learning rate scheduler #9

Closed nachiket92 closed 2 years ago

nachiket92 commented 2 years ago

Instead of a fixed learning rate of 0.0001, use a learning rate schedule. Start with a learning rate of 0.001, halve after 10 epochs. Model trains faster, achieves slightly better results.