Getting Started

• nuPlan dataset 다운로드

conda create -n diffusion_planner python=3.9
conda activate diffusion_planner

# install nuplan-devkit
git clone https://github.com/motional/nuplan-devkit.git && cd nuplan-devkit
pip install -e .
pip install -r requirements.txt

# setup diffusion_planner
cd ..
git clone https://github.com/ZhengYinan-AIR/Diffusion-Planner.git && cd Diffusion-Planner
pip install -e .
pip install -r requirements_torch.txt

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closed-loop Evaluation

• 체크 포인트 다운로드

mkdir -p checkpoints
wget -P ./checkpoints https://huggingface.co/ZhengYinan2001/Diffusion-Planner/resolve/main/args.json
wget -P ./checkpoints https://huggingface.co/ZhengYinan2001/Diffusion-Planner/resolve/main/model.pth

시뮬레이션 돌리기

• Set up configuration in sim_diffusion_planner_runner.sh.
• run
  bash sim_diffusion_planner_runner.sh

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결과 visualize 하기

• Set up configuration in run_nuboard.ipynb.
• Launch Jupyter Notebook or JupyterLab to execute run_nuboard.ipynb.

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Training

chmod +x torch_run.sh
./torch_run.sh