DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation
conda create -n hn python=3.10
conda activate hn
conda install pytorch==1.12.1 torchvision==0.13.1 cudatoolkit=11.6 -c pytorch -c conda-forge
pip install torch_geometric pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-1.12.1+cu116.html
pip install -r requirements.txt
Download sample dataset in the root folder: https://drive.google.com/drive/folders/1YClCBSCUc3_Zy3WIQfAE6_kIQ0xTOe0I?usp=sharing
- generator_type: 0: diffusion model; 1: cvae
- diffusion_model: 0: crnn; 1:unet
- crnn_type: 0: gru; 1:lstm
python main.py --wandb_api=YOUR_WANDB_API --generator_type=0 --diffusion_model=0 --crnn_type=0