Setting up lane graph files

Current version of scorer requires pre-extracted lane graph information.
In order to run scripts/extract_roadgraph.py you should separately install waymo-open-dataset codes.
First, clone the waymo-open-dataset repository into the project directory.

cd waymax_rs
git clone https://github.com/waymo-research/waymo-open-dataset.git

Install protobuf comilation tools

pip install protobuf grpcio-tools

Compile protobuf files

cd waymo-open-dataset
python -m grpc_tools.protoc \
  -I=src \
  --python_out=src \
  src/waymo_open_dataset/*.proto \
  src/waymo_open_dataset/protos/*.proto

Then you can set up lane graph files by running

cd scripts
python extract_roadgraph.py --split <training or validation> --output_dir <ex. /zfsauton/scratch/mineuih/waymax_rs/lane_graphs>

Run goal reaching experiment

cd waymax_rs
python scripts/main_goal_reaching.py --checkpoint_path /path_to_ckpt/epoch_0100/ --split <training or validation> --exp_dir /path_to_save_results/exp/ --lane_graph_dir /output_path_of_extract_roadgraph.py/ --num_worlds <number of worlds run in parallel> --num_scenarios <total number of scenarios you want to test> --use_es