INSTALL.md

Follow these steps to install the environment

• STEP 1: Create environment

  ## python3.8 should be strictly followed.
  conda create -n drivetransformer python=3.8
  conda activate drivetransformer
  

• STEP 2: Install cudatoolkit

  conda install -c "nvidia/label/cuda-11.8.0" cuda-toolkit
  

• STEP 3: Install torch and xformers

  pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
  pip install -U xformers --index-url https://download.pytorch.org/whl/cu118
  

• STEP 4: Set environment variables

  # cuda 11.8 and GCC 9.4 is strongly recommended. Otherwise, it might encounter errors.
  export PATH=YOUR_GCC_PATH/bin:$PATH
  export CUDA_HOME=YOUR_CUDA_PATH/
  

• STEP 5: Install ninja and packaging

  pip install ninja packaging
  

• STEP 6: Install our repo

  pip install -v -e .
  

• STEP 7: Download pretrained weights. create directory ckpts

  mkdir ckpts 
  

  Download resnet50-19c8e357.pth form Hugging Face or Baidu Cloud or from Pytorch official website.

  Download drivetransformer_large.pth from Google Drive or Baidu Cloud

• STEP 8: Install CARLA for closed-loop evaluation.

  ## Ignore the line about downloading and extracting CARLA if you have already done so.
  ## You do not need CARLA for training and open-loop evaluation. Thus, it could be skipped until you want to run with CARLA.
  mkdir carla
  cd carla
  wget https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/CARLA_0.9.15.tar.gz
  tar -xvf CARLA_0.9.15.tar.gz
  cd Import && wget https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/AdditionalMaps_0.9.15.tar.gz
  cd .. && bash ImportAssets.sh
  export CARLA_ROOT=YOUR_CARLA_PATH
  
  ## Important!!! Otherwise, the python environment can not find carla package
  echo "$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.15-py3.7-linux-x86_64.egg" >> YOUR_CONDA_PATH/envs/YOUR_CONDA_ENV_NAME/lib/python3.8/site-packages/carla.pth # python 3.8 also works well, please set YOUR_CONDA_PATH and YOUR_CONDA_ENV_NAME