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[CoRL'23] Parting with Misconceptions about Learning-based Vehicle Motion Planning
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How to run IDM #53

Closed ZiWang1105 closed 1 month ago

ZiWang1105 commented 2 months ago

Hi, may I ask how to run IDM in your code framework? I want to run a baseline.

Thanks!

DanielDauner commented 1 month ago

Hi @ZiWang1105

You can insert the name of the nuPlan baseline planners into the planner argument. For example, for IDM you can run: 

SPLIT=val14_split
CHALLENGE=closed_loop_reactive_agents # open_loop_boxes, closed_loop_nonreactive_agents, closed_loop_reactive_agents

python $NUPLAN_DEVKIT_ROOT/nuplan/planning/script/run_simulation.py \
+simulation=$CHALLENGE \
planner=idm_planner \
scenario_filter=$SPLIT \
scenario_builder=nuplan \
hydra.searchpath="[pkg://tuplan_garage.planning.script.config.common, pkg://tuplan_garage.planning.script.config.simulation, pkg://nuplan.planning.script.config.common, pkg://nuplan.planning.script.experiments]"

Best, Daniel