Merge pull request #1 from HenryLHH/feature/dev

update package installation

README.md

@@ -32,14 +32,32 @@ The core structure of this repo is as follows:
 
 ```shell
 git clone https://github.com/cruise-automation/CCDiff.git
-cd CCDiff
+conda create -n ccdiff python=3.8
 
-# install ccdiff
+# Install third-party dependencies
+cd CCDiff/third_party
+
+# Install trajdata
+git clone https://github.com/AIasd/trajdata.git
+cd trajdata
+pip install -r trajdata_requirements.txt
+pip install -e .
+
+# Install Pplan
+cd ..
+git clone https://github.com/NVlabs/spline-planner.git Pplan
+cd Pplan
 pip install -e .
 
-# install customized version of tbsim
-cd third_party/tbsim
+# Install customized version of tbsim
+cd ../tbsim
+pip install -r requirements.txt
 pip install -e .
+
+# Install ccdiff
+cd ../../
+pip install -e .
+
 ```
 #### Training and Evaluation
 

ccdiff/examples/causal_ranker.py

@@ -69,7 +69,7 @@ def causal_ranking(causal_graph, topK = 10):
 if __name__ == '__main__': 
     # parse the initial layout relationships
     import joblib
-    scene_idx = joblib.load("0_scene_idx.pkl")
+    scene_idx = joblib.load("data/0_scene_idx.pkl")
     filepath = "data/gt_results/scene_edit_eval/matrix/"
     topK = 10
 

ccdiff/models/ccdiff.py

@@ -37,7 +37,8 @@
 from .scenetemporal import SceneTransformer
 from .temporal import TemporalMapUnet
 import tbsim.dynamics as dynamics
-from tbsim.utils.guidance_loss import verify_guidance_config_list, verify_constraint_config, apply_constraints, DiffuserGuidance, PerturbationGuidance, PartialPerturbationGuidance
+from tbsim.utils.guidance_loss import verify_guidance_config_list, verify_constraint_config, apply_constraints, DiffuserGuidance
+from ccdiff.utils.guidance_loss import PerturbationGuidance, PartialPerturbationGuidance
 from trajdata.utils.arr_utils import angle_wrap
 from tbsim.utils.trajdata_utils import extract_data_batch_for_guidance
 

scripts/run_eval.sh

@@ -14,7 +14,7 @@ step=5
 
 python ccdiff/examples/scene_editor.py   --results_root_dir debug/ --num_scenes_per_batch 1  \
     --dataset_path /mnt/disks/sdb/nuscenes   --env trajdata  \
-    --policy_ckpt_dir "ccdiff_trained_models copy/train/run0/" \
+    --policy_ckpt_dir "ccdiff_trained_models/train/run0/" \
     --policy_ckpt_key iter10_ep0_valLoss16.87.ckpt --eval_class CCDiff  \
     --editing_source 'config' 'heuristic'  --registered_name 'trajdata_nusc_ccdiff' \
     --render --part_control --controllable_agent ${controllable_agent} \

setup.py

@@ -21,38 +21,14 @@
     name="ccdiff",
     packages=[package for package in find_packages() if package.startswith("ccdiff")],
     install_requires=[
-        "networkx==2.8.8"
+        "networkx==2.8.8",
+        "torch==1.13.1",
+        "torchvision==0.14.1",
     ],
     eager_resources=["*"],
     include_package_data=True,
     python_requires=">=3.8",
     version="0.0.1",
     long_description=long_description,
     long_description_content_type="text/markdown",
-)
-
-# setup(
-#     name="tbsim",
-#     packages=[package for package in find_packages() if package.startswith("tbsim")],
-#     install_requires=[
-#         # "l5kit==1.5.0",
-#         "numpy==1.23.4",  # need to manually update numpy version to (1.21.4) due to conflict with l5kit's requirement
-#         "pytorch-lightning==1.8.3.post0",
-#         "wandb",
-#         "torch==1.11",
-#         "torchvision==0.12.0",
-#         "pyemd",
-#         "h5py",
-#         "imageio-ffmpeg",
-#         "casadi",
-#         "protobuf==3.20.1", # new version might cause error
-#         "einops==0.6.0",
-#         "torchtext",  # weird pytorch-lightning dependency bug
-#     ],
-#     eager_resources=["*"],
-#     include_package_data=True,
-#     python_requires=">=3.8",
-#     version="0.0.1",
-#     long_description=long_description,
-#     long_description_content_type="text/markdown",
-# )
+)

third_party/tbsim/requirements.txt

@@ -0,0 +1,3 @@
+pip==24.0
+l5kit==1.5.0
+imageio==2.9.0

third_party/tbsim/setup.py

@@ -21,19 +21,16 @@
     name="tbsim",
     packages=[package for package in find_packages() if package.startswith("tbsim")],
     install_requires=[
-        # "l5kit==1.5.0",
-        "numpy==1.23.4",  # need to manually update numpy version to (1.21.4) due to conflict with l5kit's requirement
         "pytorch-lightning==1.8.3.post0",
+        "numpy==1.23.4",  # need to manually update numpy version to (1.21.4) due to conflict with l5kit's requirement
         "wandb",
-        "torch==1.11",
-        "torchvision==0.12.0",
         "pyemd",
         "h5py",
-        "imageio-ffmpeg",
+        "imageio-ffmpeg==0.4.9",
         "casadi",
         "protobuf==3.20.1", # new version might cause error
         "einops==0.6.0",
-        "torchtext",  # weird pytorch-lightning dependency bug
+        "torchtext==0.14.1",  # weird pytorch-lightning dependency bug
     ],
     eager_resources=["*"],
     include_package_data=True,

third_party/tbsim/evaluation/policy_composers.py → third_party/tbsim/tbsim/evaluation/policy_composers.py

@@ -12,13 +12,13 @@
 from tbsim.configs.registry import get_registered_experiment_config
 from tbsim.utils.config_utils import get_experiment_config_from_file
 from tbsim.policies.hardcoded import (
-    ReplayPolicy,
     GTPolicy,
     GTPolicyOpenLoop,
     GTNaNPolicy,
 )
 from ccdiff.policies.hierarchical import (
-    CCDiffHybridPolicyControl
+    CCDiffHybridPolicyControl,
+    ReplayPolicy
 )
 
 from tbsim.configs.base import ExperimentConfig