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Thinklab-SJTU / Bench2Drive

[NeurIPS 2024 Datasets and Benchmarks Track] Closed-Loop E2E-AD Benchmark Enhanced by World Model RL Expert
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from agents.navigation.global_route_planner import GlobalRoutePlanner #52

Closed scuizhibin closed 3 months ago

scuizhibin commented 3 months ago

我按照readme上的要求进行安装carla,运行bash leaderboard/scripts/run_evaluation_debug.sh，出现问题

AvinsWang commented 3 months ago

@scuizhibin 我之前也遇到过, 添加下面两行解决了 

import sys
sys.path.append('/path_to_carla/PythonAPI/carla')
scuizhibin commented 3 months ago

@scuizhibin 我之前也遇到过, 添加下面两行解决了

import sys
sys.path.append('/path_to_carla/PythonAPI/carla')

还有一个问题 如果把VAD跑起来，run_evaluation_debug.sh 中TEAM_CONFIG如何设置？

AvinsWang commented 3 months ago

@scuizhibin 和你使用ckpt对应即可, 我使用的是 Bench2DriveZoo/ckpts/uniad_tiny_b2d.pth

TEAM_CONFIG=Bench2DriveZoo/adzoo/uniad/configs/stage2_e2e/tiny_e2e_b2d.py

这样设置加载checkpoint可能出现问题, 可以手动修改下Bench2DriveZoo/team_code/uniad_b2d_agent.py

self.ckpt_path = 'Bench2DriveZoo/ckpts/uniad_tiny_b2d.pth'
checkpoint = load_checkpoint(self.model, self.ckpt_path, map_location='cpu', strict=True)
scuizhibin commented 3 months ago

@scuizhibin 和你使用ckpt对应即可, 我使用的是 Bench2DriveZoo/ckpts/uniad_tiny_b2d.pth

TEAM_CONFIG=Bench2DriveZoo/adzoo/uniad/configs/stage2_e2e/tiny_e2e_b2d.py

这样设置加载checkpoint可能出现问题, 可以手动修改下Bench2DriveZoo/team_code/vad_b2d_agent.py

self.ckpt_path = 'Bench2DriveZoo/ckpts/uniad_tiny_b2d.pth'
checkpoint = load_checkpoint(self.model, self.ckpt_path, map_location='cpu', strict=True)

最后一个问题 我的torch版本是2.4，torchvision 版本0.19.0，但是运行bash命令出现，RuntimeError: operator torchvision::nms does not exist

AvinsWang commented 3 months ago

@scuizhibin 这是我使用的版本, 按照INSTALL.md安装能成功运行;你的问题我没遇到过, 不知道怎么解, 可以重装下torchvision或者按照官方重新配置环境

torch 2.4.0+cu118 torchaudio 2.4.0+cu118 torchmetrics 0.11.4 torchvision 0.19.0+cu118

scuizhibin commented 3 months ago

@scuizhibin 这是我使用的版本, 按照INSTALL.md安装能成功运行;你的问题我没遇到过, 不知道怎么解, 可以重装下torchvision或者按照官方重新配置环境

torch 2.4.0+cu118 torchaudio 2.4.0+cu118 torchmetrics 0.11.4 torchvision 0.19.0+cu118

ATen/native/TensorShape.cpp:3587.) return _VF.meshgrid(tensors, **kwargs) # type: ignore[attr-defined] --- anchor_info_path /home/zzx/CZB/Bench2DriveZoo/data/others/b2d_motion_anchor_infos_mode6.pkl load checkpoint from path: /media/zzx/data/workspace/Bench2Drive-base/uniad_tiny_b2d.pth

Running the route === [Agent] -- Wallclock = 2024-08-14 09:21:34.430 -- System time = 0.000 -- Game time = 0.050 -- Ratio = 0.000x /home/zzx/.local/lib/python3.8/site-packages/scipy/optimize/_minpack_py.py:178: RuntimeWarning: The iteration is not making good progress, as measured by the improvement from the last ten iterations. warnings.warn(msg, RuntimeWarning) leaderboard/scripts/run_evaluation.sh：行 44: 21984 段错误 （核心已转储） CUDA_VISIBLE_DEVICES=${GPU_RANK} python ${LEADERBOARD_ROOT}/leaderboard/leaderboard_evaluator.py --routes=${ROUTES} --repetitions=${REPETITI=${CHALLENGE_TRACK_CODENAME} --checkpoint=${CHECKPOINT_ENDPOINT} --agent=${TEAM_AGENT} --agent-config=${TEAM_CONFIG} --debug=${DEBUG_CHALLENGE} --record=${RECORD_PATH} --resume=${RESUME} --port=${PORT} --traffic-manager-port=${TM_PORT} --gpu-rank=${GPU_RANK}这个问题是显存不足吗？还是其他原因

AvinsWang commented 3 months ago

@scuizhibin 从上面信息不确定是哪一步出错了, 你可以调试代码看下具体发生在哪. 3060(notebook) 8G报OOM错误(uniad_tiny), 换成 A100 实际占用显存约9.4G(VAD);

scuizhibin commented 3 months ago

这个问题你遇到没有

---Original--- From: @.> Date: Tue, Aug 13, 2024 15:51 PM To: @.>; Cc: @.**@.>; Subject: Re: [Thinklab-SJTU/Bench2Drive] fromagents.navigation.global_route_planner import GlobalRoutePlanner (Issue #52)

@scuizhibin 这是我使用的版本, 按照INSTALL.md安装能成功运行;你的问题我没遇到过, 不知道怎么解, 可以重装下INSTALL.md或者按照官方重新配置环境

torch 2.4.0+cu118 torchaudio 2.4.0+cu118 torchmetrics 0.11.4 torchvision 0.19.0+cu118

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: @.***>

happytianhao commented 3 months ago

我按照readme上的要求进行安装carla,运行bash leaderboard/scripts/run_evaluation_debug.sh，出现问题

在Bench2Drive/leaderboard/scripts/run_evaluation.sh中设置一下CARLA_ROOT~