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fix _load_scene_with_token when using custom cache path #11

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fix _load_scene_with_token when using custom cache path #11

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19 changes: 12 additions & 7 deletions navsim/planning/training/dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -120,13 +120,18 @@ def _load_scene_with_token(self, idx) -> Tuple[Dict[str, torch.Tensor], Dict[str
"""
token = self.tokens[idx]
token_path = self._valid_cache_paths[token]
if 'training_cache' in str(token_path):
pdm_token_path = str(token_path).replace("training_cache", "train_pdm_cache")
pdm_token_path_parts = pdm_token_path.split('/')
pdm_token_path_parts.insert(-1, 'unknown')
pdm_token_path = '/'.join(pdm_token_path_parts) + "/metric_cache.pkl"
else:
pdm_token_path = token_path
token_path_str = str(token_path)
if 'training_cache' in token_path_str:
pdm_token_path = token_path_str.replace(
"training_cache", "train_pdm_cache"
)
else:
pdm_token_path = token_path_str

pdm_token_path_parts = pdm_token_path.split('/')
pdm_token_path_parts.insert(-1, 'unknown')
pdm_token_path = '/'.join(pdm_token_path_parts) + "/metric_cache.pkl"


features: Dict[str, torch.Tensor] = {}
for builder in self._feature_builders:
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