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