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requirements.txt
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nuplan-devkit @ git+https://github.com/motional/nuplan-devkit/@nuplan-devkit-v1.2
scikit-learn==1.2.2
positional-encodings==6.0.1
# nuplan requirements
aioboto3
aiofiles
bokeh==2.4.3 # Used in the nuBoard dashboard
casadi # Used for optimization solving
control==0.9.1 # Used for LQR controller synthesis
Fiona # Used in GpkgMapsDB.py
geopandas>=0.12.1 # Used to read maps
guppy3==3.1.2
hydra-core==1.2.0 # Used for configs
joblib
matplotlib # Used for rendering
nest_asyncio # Used to nest event loops when running nuBoard/jupyter
numpy==1.26.4 # NOTE https://github.com/autonomousvision/navsim/issues/136
opencv-python==4.9.0.80 # Used widely
pandas # Used widely
Pillow # Used widely to render images
psutil # Used widely to get the number of CPUs
pyarrow # For parquet
pyinstrument # Used widely as profiler
pyogrio # A performant backend for geopandas
pyquaternion>=0.9.5 # Used widely, avoid known bug with quaternion slerp
pytest # Used widely
rasterio # Used in GpkgMapsDB.py
ray # Used widely
retry
rtree # Used in occupancy maps
scipy # Used widely
selenium # Used in bokeh export png
setuptools==65.5.1 # Used in setup.py, pinned to not break pytorch
Shapely>=2.0.0 # Used widely
SQLAlchemy==1.4.27 # older versions don't work with some table definitions
sympy # Use for symbolic algebra
tornado # Used in nuboard.py
tqdm # Used widely
ujson # Used in serialiation_callback.py
xformers
pytorch-lightning==2.2.1
tensorboard==2.16.2
protobuf==3.20.*
notebook
timm
einops
imgaug
fvcore
diffusers