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Project description


Realtime, confidence-varying trajectory prediction for "Probabilistically Safe Robot Planning with Confidence-Based Human Predictions". RSS '18


git clone
cd pedestrian_prediction
pip install -e .

Module contents

  • pp.mdp: Data structures and value iteration algorithms for two types of GridWorlds -- a standard GridWorld with only lateral and diagonal movement, and a GridWorldExpanded in which actions operate in "gridless" continuous space but are snapped to the nearest grid cell.
  • pp.inference: Algorithms for inferring destinations, occupancies, and states given a GridWorld, a list of destinations, and the pedestrian's trajectory so far.
  • pp.util: Utilities for parsing and trajectory manipulation.
  • pp.plots: Plot simulated trajectories, overlayed with heatmaps of predicted states. Produce some test plots by executing python -m pp.plot. (Requires plotly)

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