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<!doctype html>
<html lang="en">
<!-- === Header Starts === -->
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>PGDrive</title>
<link href="./assets/bootstrap.min.css" rel="stylesheet">
<link href="./assets/font.css" rel="stylesheet" type="text/css">
<link href="./assets/style.css" rel="stylesheet" type="text/css">
<script src="./assets/jquery.min.js"></script>
<script type="text/javascript" src="assets/corpus.js"></script>
</head>
<!-- === Header Ends === -->
<script>
var lang_flag = 1;
</script>
<body>
<!-- === Home Section Starts === -->
<div class="section">
<!-- === Title Starts === -->
<div class="header">
<div class="logo">
<a href="https://decisionforce.github.io/" target="_blank">
<img src="images/deciforce.png">
</a>
</div>
<div class="logo"
style="float: right; object-fit:none; overflow-x: hidden; width: 120pt; margin-top: 0;margin-left: 0">
<a href="https://github.com/decisionforce/pgdrive" target="_blank">
<img style=" width: 120pt; overflow-x: hidden;"
align=right
src="https://raw.githubusercontent.com/decisionforce/pgdrive/main/pgdrive/assets/PGDrive.png">
</a>
</div>
<div style="padding-top: 10pt;" class="title" id="lang">
PGDrive: An Open-ended Driving Simulator <br>with Infinite Scenes from Procedural Generation
</div>
<br>
</div>
<!-- === Title Ends === -->
<div class="author">
<a href="#">Quanyi Li</a><sup>2</sup>*,
<a href="https://pengzhenghao.github.io" target="_blank">Zhenghao Peng</a><sup>1</sup>*,
<a href="#">Qihang Zhang</a><sup>2,3</sup>,
<a href="#">Cong Qiu</a><sup>2</sup>,
<a href="#">Chunxiao Liu</a><sup>2</sup>,
<a href="http://bzhou.ie.cuhk.edu.hk" target="_blank">Bolei Zhou</a><sup>1</sup>
</div>
<div class="institution">
<div><sup>1</sup>The Chinese University of Hong Kong, <sup>2</sup>SenseTime Research, <sup>3</sup>Zhejiang
University
</div>
</div>
<table border="0" align="center">
<tr>
<td align="center" style="padding: 0pt 0 15pt 0">
<a class="bar" href="https://github.com/decisionforce/pgdrive"><b>Code</b></a> |
<a class="bar" href="https://pgdrive.readthedocs.io/"><b>Documentation</b></a> |
<a class="bar" href="https://arxiv.org/pdf/2012.13681"><b>Paper</b></a>
</td>
</tr>
</table>
<div style="position: relative;">
<div style="position:absolute;right:0;bottom: 0;">
<a class="switch" id=0>[EN]</a>
<a class="switch" id=1>[中文]</a>
</div>
</div>
</div>
<!-- === Home Section Ends === -->
<!-- === Overview Section Starts === -->
<div class="section">
<div class="title" id="lang">Overview of PGDrive Simulator</div>
<div class="body">
<div class="teaser">
<img src="images/panel.jpg">
</div>
<div class="text">
To better evaluate and improve the generalization of learning-based driving systems, we introduce an
open-ended
and highly configurable driving simulator called PGDrive.
PGDrive can generate a diverse set of driving scenes through procedural generalization from basic traffic
building blocks. Currently the simulator is used to study the generalization of the driving agents trained
from reinforcement learning. See <a href="https://arxiv.org/pdf/2012.13681">paper</a> for more detail.
</div>
</div>
</div>
<div class="section">
<div class="title" id="lang">Procedural Generation of Driving Scenes</div>
<p>
<div class="text">We first define the elementary road blocks as follows,</div>
<div class="teaser"><img
src="images/blocks-1row.jpg">
</div>
<div class="text">we then follow the proposed algorithm of procedural generation to synthesize maps:</div>
<div align="center">
<table width="70%" style="margin: 0 0; text-align: center;">
<tr>
<td>
<video style="display:block; width:98%; height:auto;"
autoplay="autoplay" controls muted loop="loop">
<source src="https://github.com/decisionforce/pgdrive/releases/download/pgdrive-0.1.2/BIG-demo.mp4"
type="video/mp4"/>
</video>
</td>
</tr>
</table>
</div>
<div class="text">We exhibit more generated maps as follows, which are further turned into interactive environments
for reinforcement learning of end-to-end driving.
</div>
<div class="teaser"><img
src="images/webpage2.001.png">
</div>
<div class="teaser"><img
src="images/webpage2.002.png">
</div>
</p>
</div>
</div>
<!-- === Overview Section Ends === -->
<!-- === Result Section Starts === -->
<div class="section">
<div class="title" id="lang">Result of Improved Generalization</div>
<div class="body">
<p>
<div class="text">
We show that when trained with more procedurally generated maps, the driving agents from reinofrcement
learning have better generalization performance on unseen test maps, and can handle more complex scenarios.
The detailed experimental results are in the paper. You can reproduce the experiment through <a
href="https://github.com/decisionforce/pgdrive-generalization-paper">our generalization experiment
code</a>.
</div>
<div class="teaser"><img
src="images/sac-up.jpg">
</div>
<div class="teaser"><img
src="images/sac-down.jpg">
</div>
</p>
<p>
<div class="text">
The demo video of the generalizable agent is shown as follows. You can run the agent on your local machine
through the provided example in <a href="https://github.com/decisionforce/pgdrive">the simulator
codebase</a>.
</div>
<div class="vedio" style="position: relative; padding-top: 50%; margin: 20pt auto; text-align: center;">
<iframe src="https://www.youtube.com/embed/T368RveOY9g" frameborder=0
style="position: absolute; top: 2.5%; left: 2.5%; width: 95%; height: 100%;"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture"
allowfullscreen></iframe>
</div>
<p>
<a class="text" href="https://github.com/decisionforce/pgdrive/releases/download/pgdrive-0.1.1/agents.mp4"
target="_blank">
Download the video.
</a>
</p>
</p>
</div>
</div>
<!-- === Result Section Ends === -->
<!-- === Reference Section Starts === -->
<div class="section">
<div class="bibtex">
<div class="text">Citation</div>
</div>
If you find this work useful in your project, please consider to cite it through:
<pre>
@article{li2020improving,
title={Improving the Generalization of End-to-End Driving through Procedural Generation},
author={Li, Quanyi and Peng, Zhenghao and Zhang, Qihang and Qiu, Cong and Liu, Chunxiao and Zhou, Bolei},
journal={arXiv preprint arXiv:2012.13681},
year={2020}
}
</pre>
<!-- Adjust the frame size based on the demo (Every project differs). -->
</div>
</body>
</html>