feature: train & infer scripts

README.md

@@ -67,26 +67,53 @@
 Our method takes as input a front-view image, a natural-language navigation command with a system prompt, and the ego-vehicle states, and outputs an 8-waypoint future trajectory spanning 4 seconds through parallel denoising. The model is first trained via supervised fine-tuning to learn accurate trajectory prediction. We then apply simulatorguided GRPO to further optimize closed-loop behavior. The GRPO reward function integrates safety constraints (collision avoidance, drivable-area compliance) with performance objectives (ego-progress, time-to-collision, comfort).
 
 
-## Preparation
 
-### Environment
+## Quick Start
+
+### Installation
+
+Clone the repo:
+
+```sh
+git clone https://github.com/fudan-generative-vision/WAM-Flow.git
+cd WAM-Flow
+```
+
+Install dependencies:
+
 ```sh
 conda create --name wam-flow python=3.10
 conda activate wam-flow
 pip install -r requirements.txt
 ```
 
-## Training
+
+### Model Download
+
+Download models using huggingface-cli:
+
 ```sh
-sh script/sft_debug.sh
+pip install "huggingface_hub[cli]"
+huggingface-cli download fudan-generative-ai/WAM-Flow --local-dir ./pretrained_model/wam-flow
+huggingface-cli download LucasJinWang/FUDOKI --local-dir ./pretrained_model/fudoki
 ```
 
-## Inference
+
+
+### Inference
+
 ```sh
 sh script/infer.sh
 ```
 
 
+### Training
+
+```bash
+sh script/sft_debug.sh
+```
+
+
 
 ## 📝 Citation
 

script/infer.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+CKPT_PATH="pretrained_model/wam-flow/navsim"
+FUDOKI_PATH="pretrained_model/fudoki"
+IMAGE_PATH="data/navsim_data/sensor_blobs/test/2021.09.09.17.18.51_veh-48_00889_01147/CAM_F0/9a6f0331d98258a0.jpg"
+
+torchrun --nproc_per_node 1 infer.py \
+    --checkpoint_path $CKPT_PATH \
+    --image_path $IMAGE_PATH \
+    --processor_path $FUDOKI_PATH \
+    --text_embedding_path $FUDOKI_PATH/text_embedding.pt \
+    --image_embedding_path $FUDOKI_PATH/image_embedding.pt \
+    --discrete_fm_steps 2 \
+    --seed 123

script/sft_debug.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+NUM_NODES=1
+NUM_GPUS=1
+
+config=config/debug.yaml
+output_dir=output/train/debug
+
+accelerate launch \
+  --config_file ./config/accelerate_config_ds2.yaml \
+  --machine_rank 0 \
+  --main_process_port 12345 \
+  --num_machines $NUM_NODES \
+  --num_processes $NUM_GPUS \
+  train.py \
+  --config $config \
+  --output_dir $output_dir

script/sft_navsim.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+NUM_NODES=1
+NUM_GPUS=1
+
+config=config/sft_navsim.yaml
+output_dir=output/train/debug
+
+accelerate launch \
+  --config_file ./config/accelerate_config_ds2.yaml \
+  --machine_rank 0 \
+  --main_process_port 12345 \
+  --num_machines $NUM_NODES \
+  --num_processes $NUM_GPUS \
+  train.py \
+  --config $config \
+  --output_dir $output_dir