Support for Argoverse 2 Motion Forecasting Dataset

.github/workflows/ci-base-tests-linux.yml

@@ -41,9 +41,10 @@ jobs:
             -n auto \
             --ignore-glob="**/ros.py" \
             --ignore-glob="**/waymo_map.py" \
+            --ignore-glob="**/argoverse_map.py" \
             ${{matrix.tests}} \
             --ignore=./smarts/core/tests/test_smarts_memory_growth.py \
             --ignore=./smarts/core/tests/test_env_frame_rate.py \
             --ignore=./smarts/env/tests/test_benchmark.py \
             --ignore=./examples/tests/test_learning.py \
-            -k 'not test_long_determinism'
+            -k 'not test_long_determinism'

.github/workflows/ci-base-tests-mac.yml

@@ -58,6 +58,7 @@ jobs:
             --doctest-modules \
             -n auto \
             --ignore-glob="**/waymo_map.py" \
+            --ignore-glob="**/argoverse_map.py" \
             ${{matrix.tests}} \
             --ignore=./smarts/core/tests/test_smarts_memory_growth.py \
             --ignore=./smarts/env/tests/test_benchmark.py \
@@ -66,4 +67,4 @@ jobs:
             --ignore=./smarts/core/tests/test_renderers.py \
             --ignore=./smarts/core/tests/test_smarts.py \
             --ignore=./smarts/core/tests/test_env_frame_rate.py \
-            --ignore=./smarts/core/tests/test_observations.py
+            --ignore=./smarts/core/tests/test_observations.py

CHANGELOG.md

@@ -11,6 +11,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ## [Unreleased]
 ### Added
 - Added objective, scenario description, and trained agent performance, to the Driving Smarts 2022 benchmark documentation.
+- Added support for the [Argoverse 2 Motion Forecasting Dataset](https://www.argoverse.org/av2.html#forecasting-link) (see `scenarios/argoverse`).
 ### Changed
 - Unique id suffix is removed from vehicle name while building agent vehicle in `VehicleIndex.build_agent_vehicle()` function. 
 ### Deprecated

Makefile

@@ -10,6 +10,8 @@ test: build-all-scenarios
 		-n `expr \( \`nproc\` \/ 2 \& \`nproc\` \> 3 \) \| 2` \
 		--nb-exec-timeout 65536 \
 		./examples/tests ./smarts/env ./envision ./smarts/core ./smarts/sstudio ./tests \
+		--ignore=./smarts/core/waymo_map.py \
+		--ignore=./smarts/core/argoverse_map.py \
 		--ignore=./smarts/core/tests/test_smarts_memory_growth.py \
 		--ignore=./smarts/core/tests/test_env_frame_rate.py \
 		--ignore=./smarts/env/tests/test_benchmark.py \

scenarios/argoverse/scenario.py

@@ -0,0 +1,28 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+scenario_id = None  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None  # e.g. Path("/home/user/argoverse/train/") / scenario_id
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+    ),
+    output_dir=Path(__file__).parent,
+)

setup.cfg

@@ -117,6 +117,8 @@ waymo =
     waymo-open-dataset-tf-2-4-0
 opendrive = 
     opendrive2lanelet>=1.2.1
+argoverse = 
+    av2>=0.2.1
 
 [aliases]
 test=pytest