training on nuScenes dataset

[orhuntamyigit]

Hi,
Thank you very much for making the code available.
I wanted to get results on nuScenes dataset after the Trajectron++ bug mentioned in #19 is fixed.
If possible, could you share the dataloader, training interfaces etc. for nuScenes?

[ChuhuaW]

Hi @Oshuttlesworth, I don't have any progress on the fixed Trajectorn++ yet, but I will try my best to conduct some experiments later. I apologize for the delay in delivering the nuScenes training code, as we do not yet have time to clean it. Meanwhile, I can share the preprocessing script, dataloader, model and training script here.

[orhuntamyigit]

Thanks a lot!
In case anyone wants to compare, I conducted experiments and obtained the following results with the fixed Trajectron++ code:
minADE_20 | minFDE_20
ETH - univ 0.434 0.834
ETH - hotel 0.339 0.914
UCY - univ 0.308 0.650
UCY - zara1 0.142 0.291
UCY - zara2 0.128 0.282

One more question, if possible, could you share the dataloader, training-evaluation interfaces for the HEV-I dataset? I would like to see how the results change with different tracking-flow estimation methods.