CTG

Original model link

Environment Setup

cd CTG
conda create -n ctg python=3.9 pip -y
conda activate ctg
pip install torch==2.5.1+cu121 torchvision==0.20.1+cu121 torchaudio==2.5.1+cu121 --index-url https://download.pytorch.org/whl/cu121
pip install -r requirements.txt
pip install --no-deps nuplan_devkit==2.0.0

Training

python scripts/train.py \
  --config_file ctg.json \
  --dataset_path ../data/nuplan_processed \
  --output_dir outputs/ctg \
  --num_gpus 8

Evaluation

python scripts/closed_loop_test.py \
  --model_path ../ckpts/ctg.ckpt \
  --config_file ctg.json \
  --scenario_dir ../data/nuplan_processed/val \
  --map_root ../data/nuplan/maps \
  --custom_behavior_dir ../data/custom_behaviors \
  --rollout_save_path outputs/ctg_closed_loop/rollouts \
  --replan_interval 5 \
  --batch_size 16 \
  --visualize_mode video