Run "nuplan_framework.ipynb" Error--AttributeError: module 'nuplan.planning.training.modeling.models' has no attribute 'raster_model'

[Syk-yr]

when I run the nuplan_framework.ipynb, it has error in AttributeError: module 'nuplan.planning.training.modeling.models' has no attribute 'raster_model', I don't change anything in nuplan_framework.ipynb.
"
from nuplan.planning.script.run_training import main as main_train
main_train(cfg)
"
It has some error like behind:
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The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
@hydra.main(config_path=CONFIG_PATH, config_name=CONFIG_NAME)
Global seed set to 0
2024-08-16 14:20:24,708 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:20} Building experiment folders...
2024-08-16 14:20:24,708 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:22} Experimental folder: /tmp/tutorial_nuplan_framework/training_raster_experiment/train_default_raster/2024.08.16.14.20.24
2024-08-16 14:20:24,708 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...
2024-08-16 14:20:24,710 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/utils/multithreading/worker_ray.py:78} Starting ray local!
2024-08-16 14:20:26,461 INFO worker.py:1781 -- Started a local Ray instance.
2024-08-16 14:20:26,910 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: RayDistributed
2024-08-16 14:20:26,910 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102} Number of nodes: 1
Number of CPUs per node: 12
Number of GPUs per node: 1
Number of threads across all nodes: 12
2024-08-16 14:20:26,910 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!
2024-08-16 14:20:26,910 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/training/experiments/training.py:41} Building training engine...
2024-08-16 14:20:26,910 INFO {/home/syk/DTPP/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18} Building TorchModuleWrapper...
AttributeError Traceback (most recent call last)
File ~/miniconda3/envs/py39/lib/python3.9/site-packages/hydra/_internal/utils.py:644, in _locate(path)
643 try:
--> 644 obj = getattr(obj, part)
645 except AttributeError as exc_attr:

AttributeError: module 'nuplan.planning.training.modeling.models' has no attribute 'raster_model'

During handling of the above exception, another exception occurred:

ModuleNotFoundError Traceback (most recent call last)
File ~/miniconda3/envs/py39/lib/python3.9/site-packages/hydra/_internal/utils.py:650, in _locate(path)
649 try:
--> 650 obj = import_module(mod)
651 continue

File ~/miniconda3/envs/py39/lib/python3.9/importlib/init.py:127, in import_module(name, package)
126 level += 1
--> 127 return _bootstrap._gcd_import(name[level:], package, level)

File :1030, in _gcd_import(name, package, level)

File :1007, in find_and_load(name, import)
...
140 if not callable(target):
141 msg = f"Expected a callable target, got '{target}' of type '{type(target).name}'"

InstantiationException: Error locating target 'nuplan.planning.training.modeling.models.raster_model.RasterModel', set env var HYDRA_FULL_ERROR=1 to see chained exception.
full_key: model