Download pretrain model

pip install huggingface_hub
export HF_ENDPOINT=https://hf-mirror.com
mkdir pretrained_models
scripts/misc/download_emu3_pretrain.sh

vq_index generation

python tools/pickle_gen/pickle_generation_navsim_pre_1s.py

Note: You can also directly download train_vq_codes.zip and test_vq_codes.zip from Hugging Face.

navsim pickle generation

bash scripts/tokenizer/extract_vq_emu3_navsim.sh

Note: You can also download existing pickle navsim_emu_vla_256_144_test_pre_1s.pkl, navsim_emu_vla_256_144_trainval_pre_1s.pkl directly from Hugging Face.

Stage 1: Pretraining world model on Nuplan dataset

bash scripts/pretrain/train_nuplan_6va_multi_v0.2_worker.sh

Note: You can also download existing ckpt Emu3_NuPlan_Pretrain_Cktps directly from Hugging Face.

Stage 2: Finetuning world model on Navsim dataset

train base AR model without MoE

bash scripts/scripts_train/train_base_ar_withou_moe.sh

train ar with MoE

bash scripts/scripts_train/train_navsim_ar.sh

train flow matching with MoE

bash scripts/scripts_train/train_navsim_flow_matching.sh

train query-based with MoE

bash scripts/scripts_train/train_navsim_query_based.sh