Add diffusiondrive integration

.gitignore

@@ -79,6 +79,9 @@ cython_debug/
 *.log
 logs/
 
+# Crash dumps
+core.*
+
 # Environment variables
 .env
 .env.local
@@ -100,4 +103,4 @@ Thumbs.db
 
 # MMDetection3D work dirs
 work_dirs/
-ckpts/
+ckpts/

projects/AlgEngine/closed_loop/post_processor.py

@@ -9,13 +9,19 @@ def __init__(
             self,
             config,
             current_pkl,
+            score_mode='lookup',
             **kwargs
             ):
 
-        self.traj = np.load(config)
+        self.score_mode = score_mode
+        self.traj = None if self.score_mode == 'recompute' else np.load(config)
         self.data_info = mmcv.load(current_pkl, file_format="pkl")
 
     def process(self, result):
+        if self.score_mode == 'recompute':
+            plan_traj = result['trajectory']
+            return plan_traj, -1
+
         plan_idx = result['chosen_ind']
         plan_traj = self.traj[plan_idx]
         # output_planning_traj = result['trajectory']     # should be the same

projects/AlgEngine/closed_loop/sim_test.py

@@ -167,6 +167,7 @@ async def run_inference_loop(model, cfg, logger):
             post_processor = ScorePostProcessor(
                 cfg.sim.post_process_path,
                 current_queue[-1],
+                score_mode=cfg.sim.get('score_mode', 'lookup'),
             )
             plan_result, plan_idx = post_processor.process(result)
 
@@ -245,10 +246,11 @@ def main():
             monitored_folder = ''
         ))
         cfg.sim = sim_cfg
-        cfg.data.test.type = "NavSimOpenSceneE2EClosedLoop"
 
     if args.cfg_options is not None:
         cfg.merge_from_dict(args.cfg_options)
+    cfg.sim.setdefault('score_mode', cfg.model.planning_head.get('score_mode', 'lookup'))
+    cfg.data.test.type = "NavSimOpenSceneE2EClosedLoop"
     # import modules from string list.
     if cfg.get('custom_imports', None):
         from mmcv.utils import import_modules_from_strings