Action-Based Representation Learning for Autonomous Driving

This repository is for running the experiments of paper: Action-Based Representation Learning for Autonomous Driving

Publications

We kindly ask to cite our paper if you find this work useful:

Yi Xiao, Felipe Codevilla, Christopher Pal, Antonio M. Lopez, Action-Based Representation Learning for Autonomous Driving.

@inproceedings{xiao2021action,
title={Action-Based Representation Learning for Autonomous Driving},
author={Xiao, Yi and Codevilla, Felipe and Pal, Christopher and Lopez, Antonio},
booktitle={Conference on Robot Learning},
pages={232--246},
year={2021},
organization={PMLR}
}

Video

Please check our online video

Related Publications:

Our work is built using the following frameworks:

Coiltraine, which can be used to easily train and manage the trainings of imitation learning networks jointly with evaluations on the CARLA simulator.
Cexp, which is a interface to the CARLA simulator and the scenario runner to produce fully usable environments.

Experiments Summary

The processes can be defined as four types:

Train an encoder model (Behaviour Cloning (BC), Inverse, Forward, ST-DIM)
Train a MLP for affordances outputs. The pre-trained encoder model will be used.
Validation on affordances prediction.
Actual drive using controller tuned with affordances prediction.

Setting Environments & Getting Datasets

Download the dataset. The full dataset is not yet ready for publishing, here we provide a small dataset for simple test. Note that in the following steps, we will use this small dataset for both training and validation, just to illustrate how to run our framework. Once the full dataset is ready, we will provide different datasets for training and validation.
Define the path to your dataset folder with SRL_DATASET_PATH:
```
export SRL_DATASET_PATH = <Path to where your datasets are>
```

Download the repository

git clone https://github.com/yixiao1/Action-Based-Representation-Learning.git

Go to your downloaded repository, and define ACTIONDIR with this directory
```
cd ~/Action-Based-Representation-Learning

export ACTIONDIR=$(pwd)
```
Download the CARLA version we used with this link, and put it inside your downloaded repository folder

To add the following packages to your PYTHONPATH:

Path to carla
Path to carla .egg file
Path to scenario_runner
Path to carl

you need to run:

export PYTHONPATH=$ACTIONDIR/Carla96ped4/PythonAPI/carla:$ACTIONDIR/Carla96ped4/PythonAPI/carla/dist/carla-0.9.6-py3.5-linux-x86_64.egg:$ACTIONDIR/scenario_runner:$ACTIONDIR/carl

Training Encoder

Define configuration files for training. Refer to files in configs folder
Run the main.py file with "train_encoder" process:
```
python3 main.py --single-process train_encoder --gpus 0 --encoder-folder ENCODER --encoder-exp BC_smallDataset_seed1
```
where --single-process defines the process type, --gpus defines the gpu to be used, --encoder-folder is the experiment folder you defined in config folder, and --encoder-exp is the experiment you defined inside the experiment folder.

Training MLP for affordances

Define configuration files for training. Refer to files in configs folder
Run the main.py file with "train" process:
```
python3 main.py --single-process train --gpus 0 --encoder-folder ENCODER --encoder-exp BC_smallDataset_seed1 --encoder-checkpoint 1000 -f EXP -e BC_smallDataset_seed1_encoder_frozen_1FC_smallDataset_s1
```
where --single-process defines the process type, --gpus defined the gpu to be used, --encoder-folder is the experiment folder name of the encoder to be used, --encoder-exp is the experiment name of encoder to be used, --encoder-checkpoint is the specific encoder checkpoint to be used, -f is the experiment folder you defined in config folder for affordances prediction, -e is the experiment name you defined in the experiment folder for affordances prediction.

Validate on affordances prediction

Run the main.py file with "validation" process. You will need to define the path to the json file of validation dataset:

python3 main.py --single-process validation --gpus 0 --encoder-folder ENCODER --encoder-exp BC_smallDataset_seed1 --encoder-checkpoint 1000 -f EXP -e BC_smallDataset_seed1_encoder_frozen_1FC_smallDataset_s1 -vj $ACTIONDIR/carl/database/CoRL2020/small_dataset.json

where -vj defines the path to your validation json file

Driving on CARLA benchmark

The driving results will be saved to your SRL_DATASET_PATH, you could re-define it if you want to save to another path
Build a docker with your carla version:
```
docker image build -f /.../carla/Util/Docker/Release.Dockerfile -t carlaped $ACTIONDIR/Carla96ped4/
```
where -f is the path to the Realease.Dockerfile, -t defines the name of the docker you want to created, and $ACTIONDIR/Carla96ped4/ is the path to your Carla package

Set up PYTHONPATH for CARLA driving:

export PYTHONPATH=$ACTIONDIR:$ACTIONDIR/cad:$ACTIONDIR/Carla96ped4/PythonAPI/carla/dist/carla-0.9.6-py3.5-linux-x86_64.egg/:$ACTIONDIR/Carla96ped4/PythonAPI/carla:$ACTIONDIR/scenario_runner

Define a config.json for using a specific model, and put it into the directory of your model in _logs folder: _logs/(experiment folder)/(experiment name)

check an example on this config.json example
To run the benchmark, go to driving-benchmarks folder:
```
cd driving-benchmarks-carla_09_cexp/
```

and run:

    python3 benchmark_runner.py -b NoCrash -a $ACTIONDIR/drive/AffordancesAgent.py -d carlaped -c $ACTIONDIR/_logs/EXP/BC_im_50Hours_seed1_encoder_finetuning_3FC_5Hours_s1_100000/config.json --gpu 2

where `-b` is the benchmark, `-a` is the path to the agent class, `-c` is the configuration file for driving

To drive our affordance-based model with 50 hours Behaviour Cloning (BC) pre-training, you need to download this _logs to the same directory of this repository), and run step 5

yixiao1 / Action-Based-Representation-Learning

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