
## Step1: pretrian triplanes
```
CUDA_VISIBLE_DEVICES=0,1,2,3 python train_triplane.py --py-config config/train_triplane.py --work-dir out/triplane_20250215-v1
```

## Step2: save all triplanes
```
CUDA_VISIBLE_DEVICES=0 python save_triplane.py --py-config config/save_triplane.py --work-dir out/triplane_20250215-v1
```

## Step3: train occupancy forecasting and motion planning
```
CUDA_VISIBLE_DEVICES=0,1 python train_hexplane.py --py-config config/train_hexplane.py --work-dir out/hexworld_20250216-v1
```

## Step4: testing
```
CUDA_VISIBLE_DEVICES=0,1 python test_hexplane.py --py-config config/test_hexplane.py --work-dir out/hexworld_20250216-v1
```