| mini数据集： | |
| install.md的1和2，只要跑download_mini脚本 | |
| 装navsim： | |
| 1. 装cuda 11.7 https://developer.nvidia.com/cuda-11-7-0-download-archive | |
| 2. 配环境： | |
| conda env create --name navsim -f environment.yml | |
| conda activate navsim | |
| cd navsim_ours | |
| pip install openmim; | |
| mim install mmdet==2.28.2; | |
| pip install spconv-cu120; | |
| pip install numba; | |
| pip install -e .; | |
| 跑training： | |
| python $NAVSIM_DEVKIT_ROOT/navsim/planning/script/run_training.py \ | |
| agent=transfuser_agent \ | |
| experiment_name=training_transfuser_agent \ | |
| split=tiny |