VBD

Original model link

1. Environment Setup

cd VBD
conda create -n vbd_torch251_cu121 python=3.10 pip -y
conda activate vbd_torch251_cu121
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

2. Training

python script/train.py --cfg config/VBD.yaml

3. Closed-Loop Evaluation

python script/closed_loop_test.py \
  --model_path ../ckpts/vbd.ckpt \
  --config_file config/VBD.yaml \
  --scenario_dir ../data/nuplan_processed/val \
  --map_root ../data/nuplan/maps \
  --custom_behavior_dir ../data/custom_behaviors \
  --rollout_save_path outputs/vbd_closed_loop/rollouts \
  --replan_interval 5 \
  --batch_size 16 \
  --visualize_mode none