[WAFR24] Interaction-aware Conformal Prediction for Crowd Navigation
Download gst_results.zip from the google drive link. Then run
mv gst_results.zip icp/gst/
cd icp/gst/
unzip gst_results.zip
You will see folder icp/gst/results.
Run
conda create -n icp python=3.9.0
conda activate icp
pip install numpy
pip install pandas
pip install torch==2.0.1
pip install gym
pip install tensorflow
pip install matplotlib
pip install imageio[ffmpeg]
pip install casadi
Then run
git clone https://github.com/openai/baselines.git
cd baselines/
pip install -e .
cd ..
git clone https://github.com/sybrenstuvel/Python-RVO2.git
cd Python-RVO2/
pip install Cython
python setup.py build
python setup.py install
cd ..
Note 1: If you encounter the error similar to below when running python setup.py build
CMake Error at CMakeLists.txt:33 (cmake_minimum_required):
Compatibility with CMake < 3.5 has been removed from CMake.
Remove Python-RVO2/ and collect the repo again.
git clone https://github.com/sybrenstuvel/Python-RVO2.git
cd Python-RVO2/
Adjust the line in icp/Python-RVO2/CMakeLists.txt
cmake_minimum_required(VERSION 2.8)
to
cmake_minimum_required(VERSION 3.5)
and then run
pip install Cython
python setup.py build
python setup.py install
cd ..
Check if installed successfully by running import rvo2 in python in the icp environment.
Note 2: Replace np.bool with bool in icp/baselines.
conda activate icp
python wafr_evaluate_algorithms.py -a icp -i 3 -n 10 -p 5 -r -s 8 --calibration_size 8 --calibration_envs_num_processes 8
Note 3: If you encounter error related to RuntimeError: Numpy is not available, run
conda activate icp
pip install "numpy<2"
python wafr_evaluate_algorithms.py -a icp -i 3 -n 10 -p 5 -r -s 8 --calibration_size 8 --calibration_envs_num_processes 8