Physics Residual-Bounded LSTM for Safe Vehicle State Prediction

This repository contains the necessary scripts to reproduce the results from our paper "Physics Residual-Bounded LSTM for Safe Vehicle State Prediction".

Clone this repository and install dependencies:

git clone https://github.com/AlexandraBaier/Supplement_Physics_Residual-Bounded_LSTM.git
cd Supplement_Physics_Residual-Bounded_LSTM
pip install .

All directories and files will be created within the cloned directory.

Run the following to download all datasets and set up the required directories:

python scripts/setup_environment.py

To run the experiments for the ship dataset run the following two scripts in order:

python scripts/run_experiment_ship_ind.py {device}
python scripts/run_experiment_ship_ood.py {device}

where device is the identifier (an integer starting at 0) for the GPU to run the experiments on. If you only have one GPU, set the value to 0.

If these scripts are stopped for any reason, you can rerun them without issue. run_experiment_ship_ind.py remembers what models where already trained and validated.

To run the experiments for the Pelican dataset run the following script:

python scripts/run_experiment_pelican.py {device}

Trained models are found in models, results in results, and datasets in datasets. Environment variables pointing to the models, results, and configuration for each experiment are found in environment.

To summarize the results on the test set run the following script:

python scripts/summarize_results.py

To summarize the results for the ablation study on the clipping-accuracy trade-off run the following:

python scripts/summarize_threshold_results.py

Both summarize scripts will deposit CSV files in the results directories of the respective dataset.