Some problem about close-loop code

[duck-no-bee]

"Great work! I am currently reproducing this project. However, I encountered an error while running the closed-loop simulation code. The logs show:

Metric Engine failed with: invalid poses passed to get_route()

I am using a custom script betop.sh (details attached below) to trigger the simulation. Apart from the paths and environment variables, I haven't made any significant modifications to the original code.

Could this be related to a version mismatch in the nuplan-devkit or specific map/dataset dependencies? Any insights would be greatly appreciated."

betop.sh:
cwd=$(pwd)
CKPT_ROOT="$cwd/checkpoints"
export PYTHONPATH="$(pwd):$PYTHONPATH"
export RAY_tmp_dir="/mnt/files3/nuplan_tmp"
export NUPLAN_DATA_ROOT="/mnt/files3/nuplan/dataset"
export NUPLAN_MAPS_ROOT="/mnt/files3/nuplan/dataset/maps"
export NUPLAN_EXP_ROOT="/mnt/files3/nuplan/exp/Betop"

CKPT_PATH="/mnt/files3/nuplan/exp/Betop/exp/training/BeTop/2026.01.15.23.09.43/checkpoints/last.ckpt"

PLANNER="BeTop"
SPLIT='mini'
CHALLENGES="closed_loop_nonreactive_agents closed_loop_reactive_agents"

for challenge in $CHALLENGES; do
echo "Running challenge: $challenge"

python /home/tianyi/code/icml/BeTop-nuplan-fixed/planning/run_simulation.py \
    +simulation=$challenge \
    planner=$PLANNER \
    scenario_builder=nuplan_challenge \
    scenario_filter=$SPLIT \
    experiment_uid="$SPLIT/$PLANNER" \
    distributed_mode='SINGLE_NODE' \
    number_of_gpus_allocated_per_simulation=0.15 \
    enable_simulation_progress_bar=true \
    verbose=true \
    planner.imitation_planner.planner_ckpt="$CKPT_PATH"\
    worker=sequential

done

[duck-no-bee]

I’ve identified the issue. The expand_scenarios parameter in the configuration file was set to true, which limits each scenario to just a single frame. It should be set to false to execute properly.