Dataset Preparation

Reformatting the Original Dataset

Waymo Dataset

To reformat Waymo's scenario protocol buffer data, download the dataset and then modify the src_path and dst_path in the script. Execute the following command to split the data:

python scripts/preprocess/process_wod_data.py

Nuplan Dataset

For instructions on setting up the Nuplan dataset, refer to Nuplan Devkit Documentation.

Caching the Dataset

To train efficiently, it is essential to cache the data first. Follow these steps:

Cache Dataset v1.0 (slow)

Waymo Dataset

Run the following script to cache the Waymo dataset:

sh ./scripts/preprocess/cache_wod_data.sh

Nuplan Dataset

Run the following script to cache the Nuplan dataset:

sh ./scripts/preprocess/cache_nuplan_data.sh

Cache Dataset v1.1 (fast)

Waymo Dataset

The v1.1 cache script for the Waymo dataset has not yet been released. Stay tuned for updates!

Nuplan Dataset

Run the following script to cache the Nuplan dataset version 1.1:

sh ./scripts/preprocess/cache_nuplan_data_v1_1.sh