After successfully installing the NAVSIM environment, you should further proceed to install the following packages for DiffusionDriveV2:
conda activate navsim
pip install diffusers einops To enable faster download, Jinkun provide a improved script super_download.sh by using tmux to parallelize the download process. Thanks for his contribution!
cd /path/to/DiffusionDriveV2/download
bash super_download.shTo utilize GTRS trajectories as data augmentation during mode selector training, please download the simulated ground-truths for the GTRS vocabulary.
cd gtrs_traj
wget https://huggingface.co/Zzxxxxxxxx/gtrs/resolve/main/navtrain_16384.pkl