Installation

To make usage easier, we have prepared a Docker image. Download it from the following link:
Download Docker Image

Using Docker

1. Load the image:

   docker load -i IMAGE_DOWNLOAD_PATH
   

2. Edit the Docker mount point: Update the mount point in ./docker/docker_run.sh as needed.

3. Run the Docker container:

   sh ./docker/docker_run.sh
   

Install Nuplan Devkit

1. Navigate to the third_party directory:

   cd GUMP/third_party
   

2. Clone the Nuplan Devkit repository:

   git clone --branch feat-v1.3_gump git@github.com:HorizonRobotics/nuplan-devkit.git
   

3. Install the Nuplan Devkit:

   cd nuplan-devkit
   pip install -e .
   

4. Set the NUPLAN_DEVKIT_PATH environment variable:

   export NUPLAN_DEVKIT_PATH=$YOUR_PATH_TO_GUMP/GUMP/third_party/nuplan-devkit
   

5. install following packages:

   pip install aiofiles aioboto3 flatdict adjustText loralib easydict einops_exts
   pip install waymo-open-dataset-tf-2-12-0==1.6.4
   

Install ALF

Follow these steps to install ALF while ignoring the dependencies of torch:

1. Navigate to the third_party directory:

   cd GUMP/third_party
   

2. Clone the ALF repository:

   git clone https://github.com/HorizonRobotics/alf.git
   

3. Edit the setup.py file to ignore the dependencies of torch:

   Comment out lines 52, 53, and 54 in the setup.py file:

   # 'torch==2.2.0',
   # 'torchvision==0.17.0',
   # 'torchtext==0.17.0',
   

4. Install ALF:

   pip install -e .