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Dataset Preparation

Reformatting the Original Dataset

Waymo Dataset

To reformat Waymo's scenario protocol buffer data, download the dataset and then specify the --wod_path argument to the local path of the Waymo Motion dataset. Finally, execute the following command to split the data:

python scripts/preprocess/process_wod_data.py --wod_path your/path/to/waymo/motion/dataset

Nuplan Dataset

For instructions on setting up the Nuplan dataset, refer to Nuplan Devkit Documentation.

Caching the Dataset

To train efficiently, it is essential to cache the data first. Follow these steps:

Waymo Dataset

Run the following script to cache the Waymo dataset:

sh ./scripts/preprocess/cache_wod_data.sh

Nuplan Dataset

Run the following script to cache the Nuplan dataset:

sh ./scripts/preprocess/cache_nuplan_data.sh

Nexus-data

To enhance the model's ability to handle safety-critical scenarios such as cut-ins, rear-end collisions, and others, we constructed a dedicated safety-critical dataset named Nexus-data. This dataset follows the same format as the Nexus cached dataset. We have made it publicly available, and you can access it on Hugging Face. More details about the dataset can be found in the Nexus paper.