MTR

Original model link

Environment Setup

cd MTR
conda create -n mtr python=3.9 pip -y
conda activate mtr
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
python setup.py build_ext --inplace

Training

python tools/train_nuplan.py \
  --config_file tools/cfgs/nuplan/mtr.yaml \
  --batch_size 4 \
  --workers 8 \
  --extra_tag default

Evaluation

python tools/closed_loop_test.py \
  --model_path ../ckpts/mtr.pth \
  --config_file tools/cfgs/nuplan/mtr.yaml \
  --scenario_dir ../data/nuplan_processed/val \
  --map_root ../data/nuplan/maps \
  --custom_behavior_dir ../data/custom_behaviors \
  --rollout_save_path outputs/mtr_closed_loop/rollouts \
  --replan_interval 5 \
  --batch_size 4 \
  --visualize_mode video