Merge branch 'XG' of https://github.com/taco-group/LangCoop into XG

Author: XiangboGaoBarry

bash_files/run_eval_api_speed_curvature_heter.sh

@@ -0,0 +1,8 @@
+Route_id=1
+Carla_port=2000
+Method_tag="test2"
+Repeat_id=0
+Agent_config="speed_curvature_heter"
+Scenario_config="1"
+
+CUDA_VISIBLE_DEVICES=0 bash scripts/eval_driving_vlm_heter.sh ${Route_id} ${Carla_port} ${Method_tag} ${Repeat_id} ${Agent_config} ${Scenario_config}

bash_files/run_eval_api_speed_curvature_homo.sh

@@ -0,0 +1,8 @@
+Route_id=1
+Carla_port=2000
+Method_tag="test2"
+Repeat_id=0
+Agent_config="speed_curvature_homo"
+Scenario_config="1"
+
+CUDA_VISIBLE_DEVICES=0 bash scripts/eval_driving_vlm_homo.sh ${Route_id} ${Carla_port} ${Method_tag} ${Repeat_id} ${Agent_config} ${Scenario_config}

run.md

@@ -5,7 +5,9 @@
 # launch carla
 CUDA_VISIBLE_DEVICES=0 ./external_paths/carla_root/CarlaUE4.sh --world-port=2000 -prefer-nvidia
 
-# run
-bash bash_files/run_eval_api.sh
+# run homo
+bash bash_files/run_eval_api_speed_curvature_homo.sh
 
+# run heter
+bash bash_files/run_eval_api_speed_curvature_heter.sh
 ```

scripts/eval_driving_vlm.sh scripts/eval_driving_vlm_heter.sh

@@ -0,0 +1,94 @@
+#!/bin/bash
+
+# $1, route id
+# $2, Carla port
+# $3, exp_name
+# $4, repeat
+# $5, agent config
+# $6, scenario config
+
+export CARLA_ROOT=external_paths/carla_root
+export LEADERBOARD_ROOT=simulation/leaderboard
+export SCENARIO_RUNNER_ROOT=simulation/scenario_runner
+export DATA_ROOT=external_paths/data_root
+export SAVE_DIR=results
+
+export CARLA_SERVER=${CARLA_ROOT}/CarlaUE4.sh
+export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI
+export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla
+export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg
+export PYTHONPATH=$PYTHONPATH:${LEADERBOARD_ROOT}
+export PYTHONPATH=$PYTHONPATH:${LEADERBOARD_ROOT}/team_code
+export PYTHONPATH=$PYTHONPATH:${SCENARIO_RUNNER_ROOT}
+
+export CHALLENGE_TRACK_CODENAME=SENSORS
+export PORT=${2:-40000} # IMPORTANT: same as the carla server port
+export TM_PORT=`expr $PORT + 5` # port for traffic manager, required when spawning multiple servers/clients
+export DEBUG_CHALLENGE=0
+export TRAFFIC_SEED=2000
+export CARLA_SEED=2000
+export REPETITIONS=1 # multiple evaluation runs
+export ROUTES=${LEADERBOARD_ROOT}/data/evaluation_routes/town05_short_r${1:-0}.xml
+# verify the evaluation route, including start point and end point.
+export SCENARIOS=${LEADERBOARD_ROOT}/data/scenarios/town05_all_scenarios_2.json
+export SCENARIOS_PARAMETER=${LEADERBOARD_ROOT}/leaderboard/scenarios/scenario_parameter_$6.yaml
+export RESULT_ROOT=${SAVE_DIR}/results_driving_${3:-debug}
+export EVAL_SETTING=v2x_final/town05_short_collab/r${1:-0}_repeat${4:-0}
+export CHECKPOINT_ENDPOINT=${RESULT_ROOT}/${EVAL_SETTING}/results.json
+# path to save the result json file
+export SAVE_PATH=${RESULT_ROOT}/image/${EVAL_SETTING}
+# path to save the images.
+
+export TEAM_AGENT=simulation/leaderboard/team_code/vlm_agent.py
+# V2X agent with BEV input to indicate the drivable area.
+export TEAM_CONFIG=simulation/leaderboard/team_code/agent_config/vlm_config_$5.yaml
+# model config file!
+
+export RESUME=0
+export EGO_NUM=1
+export SKIP_EXISTED=1
+
+mkdir -p $SAVE_PATH
+mkdir -p ${RESULT_ROOT}/${EVAL_SETTING}
+
+python ${LEADERBOARD_ROOT}/leaderboard/leaderboard_evaluator_parameter.py \
+--scenarios=${SCENARIOS}  \
+--scenario_parameter=${SCENARIOS_PARAMETER}  \
+--routes=${ROUTES} \
+--repetitions=${REPETITIONS} \
+--track=${CHALLENGE_TRACK_CODENAME} \
+--checkpoint=${CHECKPOINT_ENDPOINT} \
+--agent=${TEAM_AGENT} \
+--agent-config=${TEAM_CONFIG} \
+--debug=${DEBUG_CHALLENGE} \
+--record=${RECORD_PATH} \
+--resume=${RESUME} \
+--port=${PORT} \
+--trafficManagerPort=${TM_PORT} \
+--carlaProviderSeed=${CARLA_SEED} \
+--trafficManagerSeed=${TRAFFIC_SEED} \
+--ego-num=${EGO_NUM} \
+--timeout 600 \
+--skip_existed=${SKIP_EXISTED}
+
+
+
+# python -m debugpy --listen 5678 --wait-for-client ${LEADERBOARD_ROOT}/leaderboard/leaderboard_evaluator_parameter.py \
+# --scenarios=${SCENARIOS}  \
+# --scenario_parameter=${SCENARIOS_PARAMETER}  \
+# --routes=${ROUTES} \
+# --repetitions=${REPETITIONS} \
+# --track=${CHALLENGE_TRACK_CODENAME} \
+# --checkpoint=${CHECKPOINT_ENDPOINT} \
+# --agent=${TEAM_AGENT} \
+# --agent-config=${TEAM_CONFIG} \
+# --debug=${DEBUG_CHALLENGE} \
+# --record=${RECORD_PATH} \
+# --resume=${RESUME} \
+# --port=${PORT} \
+# --trafficManagerPort=${TM_PORT} \
+# --carlaProviderSeed=${CARLA_SEED} \
+# --trafficManagerSeed=${TRAFFIC_SEED} \
+# --ego-num=${EGO_NUM} \
+# --timeout 600 \
+# --skip_existed=${SKIP_EXISTED}