pedestrian_prediction

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pedestrian_prediction

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

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// repository documentation

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

## Installation
```
git clone https://github.com/sirspinach/pedestrian_prediction.git
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)

![pp.plots snapshot](https://raw.githubusercontent.com/shwang/pedestrian_prediction/master/pics/newplot.png)

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