- Argoverse 2.
- Waymo Open.
You will need to download both of these datasets in their entirety. After downloading, run the converters in ./converters. This will output each dataset in the format that our codebase expects.
You will need to install conda and install our conda environment. Please run:
bash conda/install.sh
This will install the environment to run the codebase. Note: This environment has only been tested on Ubuntu 20.04 using A40 gpus.
Additionally, to use weighted NMS you will need to install: https://github.com/Abyssaledge/TorchEx.
The entrypoint is found in scripts. For example, to train our SOTA comparison model for Argoverse 2, you would run:
bash train.sh rv-av2 4 20 1.