To replicate this:
1. Pull the code
2. Create a conda environment with the `requirements.txt` file.
3. Download the dataset from https://waymo.com/open/data/motion/
4. Run the prerendering script
5. Run the training script and prediction script
python prerender/prerender.py \
--data-path <path-to-data-files> \
--output-path <path-to-store-output-renders> \
--n-jobs 16 \
--n-shards 4 \
--shard-id 0 \
--config configs/prerender.yaml
python train.py configs/run_config.yaml
python predict_v3_1.py configs/run_config.yaml