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NVlabs / traffic-behavior-simulation

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missing evaluate.py for closed-loop simulation #1

Closed zijinoier closed 1 year ago

zijinoier commented 1 year ago

Hi, when I follow the readme to Step 4 and Step 5: Closed-loop simulation. It says python scripts/evaluate.py \.... However, the evaluate.py is not uploaded in scripts folder.

P.S. Due to the large size of the nuscene or Lyft dataset, it is not easy to get started. Is it possible to provide a trained baseline model so that closed-loop simulation can be performed more easily?

chenyx09 commented 1 year ago

Thank you for pointing it out, we accidentally added evaluate.py to .gitignore. It is fixed now. As for checkpoints, we added a link to pretrained nuScenes checkpoints in Readme.

zijinoier commented 1 year ago

After today's commit, I was able to run the closed-loop simulation and produce videos like the one below. Thank you for your efforts 😀. Screenshot from 2023-04-11 11-17-05 Also, the video at the beginning of the READMEis different and has a 3D simulation interface. May I ask how to produce it? Is co-simulation with Omniverse or Carla required?

P.S. I noticed that the code requires placing the NuScenes Map expansion pack in the map folder. I think it would be nice to emphasize this in the data tree structure in the README, as follows:

nuscenes/
├── maps/
│   └── expansion/
│   v1.0-mini/
│   v1.0-trainval/
chenyx09 commented 1 year ago

Awesome! The 3D rendering is done in Drivesim from Nvidia using the simulation result from TBSIM. Unfortunately, this function requires additional software infrastructure and we are not ready to release the code yet.