SMART/CATK/TrajTok

Original model links: SMART CATK TrajTok

1. Environment Setup

cd SMART_CATK_TrajTok
conda create -n catk python=3.11 pip -y
conda activate catk
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 torch-geometric==2.6.1
pip install torch-scatter torch-cluster -f https://data.pyg.org/whl/torch-2.5.1+cu121.html
pip install -r install/requirements.txt
pip install --no-deps nuplan_devkit==2.0.0

2. Training

python -m src.run experiment=smart # catk/trajtok

3. Evaluation

python tools/closed_loop_test.py \
  --model_path ../ckpts/smart.ckpt \
  --config_file configs/experiment/smart.yaml \
  --scenario_dir ../data/nuplan_processed/val \
  --map_root ../data/nuplan/maps \
  --custom_behavior_dir ../data/custom_behaviors \
  --rollout_save_path outputs/smart_closed_loop/rollouts \
  --replan_interval 5 \
  --batch_size 16 \
  --visualize_mode video

Replace smart with catk or trajtok in the commands above for training and evaluation.