GaussianFusion
[NeurIPS2025 Spotlight] Implementation of "GaussianFusion: Gaussian-Based Multi-Sensor Fusion for End-to-End Autonomous Driving"
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최종 버전 다운로드 (.zip)- gaussianfusion_demo.gif
- image.png
- overall framework.png
- Pipelines.png
- Visualization of Gaussians.png
- Visualization of predicted.png
- agents.md
- cache.md
- install.md
- metrics.md
- splits.md
- submission.md
- download_maps.sh
- download_mini.sh
- download_navtrain.sh
- download_private_test_e2e.sh
- download_test.sh
- download_trainval.sh
- .ninja_deps
- .ninja_log
- build.ninja
- __init__.py
- dependency_links.txt
- PKG-INFO
- SOURCES.txt
- top_level.txt
- aggregator.h
- aggregator_impl.cu
- aggregator_impl.h
- auxiliary.h
- backward.cu
- backward.h
- config.h
- forward.cu
- forward.h
- CMakeLists.txt
- debug.py
- ext.cpp
- local_aggregate.cu
- local_aggregate.h
- setup.py
- __init__.py
- gaussian_decoder.py
- __init__.py
- bev_feature_build.py
- blocks.py
- cross_attention.py
- custom_base_transformer_layer.py
- decoder.py
- encoder.py
- ffn_module.py
- gaussian_init.py
- grid_mask.py
- gs_exp_refiner.py
- gs_imp_refiner.py
- multi_scale_deformable_attn_function.py
- refine_module_v2.py
- self_attention.py
- sensor_backbone.py
- spatial_cross_attention.py
- temporal_self_attention.py
- transform3d.py
- transformer_decoder.py
- utils.py
- vov.py
- __init__.py
- lovasz_softmax.py
- scheduler.py
- compute_b2d_score.py
- compute_navsim_score.py
- scorer.py
- train_pdm_scorer.py
- gaussian_refiner.py
- gaussianfusion_agent.py
- gaussianfusion_config.py
- gaussianfusion_features.py
- gaussianfusion_loss.py
- gaussianfusion_model.py
- __init__.py
- abstract_agent.py
- constant_velocity_agent.py
- ego_status_mlp_agent.py
- human_agent.py
- __init__.py
- dataclasses.py
- dataloader.py
- enums.py
- __init__.py
- pdm_score.py
- __init__.py
- caching.py
- metric_cache.py
- metric_cache_processor.py
- metric_caching_utils.py
- train_cache_processor.py
- train_caching.py
- train_metric_chache.py
- __init__.py
- navsim_scenario.py
- navsim_scenario_utils.py
- __init__.py
- observation_builder.py
- planner_builder.py
- simulation_builder.py
- worker_pool_builder.py
- b2d_agent.yaml
- constant_velocity_agent.yaml
- ego_status_mlp_agent.yaml
- gaussianfusion_agent.yaml
- human_agent.yaml
- navsim_agent.yaml
- transfuser_agent.yaml
- __init__.py
- all_scenes.yaml
- competition_private_tokens.yaml
- navall.yaml
- navdebug.msgpack
- navdebug.yaml
- navmini.yaml
- navtest.yaml
- navtrain.msgpack
- navtrain.yaml
- navtrain_empty.yaml
- private_test_e2e.yaml
- warmup_test_e2e.yaml
- mini.yaml
- navall.yaml
- navdebug.yaml
- navmini.yaml
- navtest.yaml
- navtrain.yaml
- private_test_e2e.yaml
- test.yaml
- trainval.yaml
- warmup_test_e2e.yaml
- __init__.py
- ray_distributed.yaml
- ray_distributed_no_torch.yaml
- sequential.yaml
- single_machine_thread_pool.yaml
- __init__.py
- default_common.yaml
- default_evaluation.yaml
- __init__.py
- default_metric_caching.yaml
- train_metric_caching.yaml
- __init__.py
- default_run_create_submission_pickle.yaml
- default_run_merge_submission_pickles.yaml
- default_run_pdm_score.yaml
- default_run_pdm_score_from_submission.yaml
- default_scoring_parameters.yaml
- __init__.py
- b2d_training.yaml
- default_train_val_test_log_split.msgpack
- default_train_val_test_log_split.yaml
- default_train_val_test_log_split_empty.yaml
- default_training.yaml
- __init__.py
- __init__.py
- run_b2d_training.py
- run_create_submission_pickle.py
- run_dataset_caching.py
- run_merge_submission_pickles.py
- run_metric_caching.py
- run_pdm_score.py
- run_pdm_score_from_submission.py
- run_pdm_score_gpu.py
- run_train_metric_caching.py
- run_training.py
- utils.py
- __init__.py
- pdm_object_manager.py
- pdm_observation.py
- pdm_occupancy_map.py
- __init__.py
- batch_idm_policy.py
- pdm_generator.py
- pdm_proposal.py
- __init__.py
- pdm_comfort_metrics.py
- pdm_scorer.py
- pdm_scorer_utils.py
- __init__.py
- batch_kinematic_bicycle.py
- batch_lqr.py
- batch_lqr_utils.py
- pdm_simulator.py
- __init__.py
- bfs_roadblock.py
- dijkstra.py
- __init__.py
- pdm_array_representation.py
- pdm_emergency_brake.py
- pdm_enums.py
- pdm_geometry_utils.py
- pdm_path.py
- route_utils.py
- __init__.py
- abstract_pdm_closed_planner.py
- abstract_pdm_planner.py
- pdm_closed_planner.py
- __init__.py
- __init__.py
- time_logging_callback.py
- __init__.py
- abstract_feature_target_builder.py
- agent_lightning_module.py
- dataset.py
- __init__.py
- worker_ray_no_torch.py
- __init__.py
- __init__.py
- bev.py
- camera.py
- config.py
- lidar.py
- plots.py
- __init__.py
- bug_report.md
- config.yml
- feature_request.md
- question.md
- README.md
- __init__.py
- baselines.md
- competition.md
- conf.py
- dataset_setup.md
- faq.md
- index.rst
- installation.md
- make.bat
- Makefile
- metrics_description.md
- nuplan_metrics_aggeregation.md
- nuplan_schema.md
- nuplan_submission_tutorial.md
- README.md
- requirements.in
- requirements.txt
- __init__.py
- BUILD
- test_nuplan_cli.py
- __init__.py
- BUILD
- db_cli.py
- nuplan_cli.py
- __init__.py
- BUILD
- test_actor_temporal_state.py
- test_agent.py
- test_car_footprint.py
- test_dynamic_car_state.py
- test_ego_state.py
- test_oriented_box.py
- test_scene_object.py
- test_state_representation.py
- test_tracked_objects.py
- test_utils.py
- test_waypoint.py
- __init__.py
- agent.py
- agent_state.py
- agent_temporal_state.py
- BUILD
- car_footprint.py
- dynamic_car_state.py
- ego_state.py
- ego_temporal_state.py
- oriented_box.py
- scene_object.py
- state_representation.py
- static_object.py
- tracked_objects.py
- tracked_objects_types.py
- transform_state.py
- vehicle_parameters.py
- waypoint.py
- interpolate_future.json
- __init__.py
- BUILD
- test_compute.py
- test_convert.py
- test_interpolate_tracked_object.py
- test_torch_geometry.py
- test_transform.py
- __init__.py
- BUILD
- compute.py
- convert.py
- interpolate_state.py
- interpolate_tracked_object.py
- torch_geometry.py
- transform.py
- baseline_in_intersection.json
- baseline_in_lane.json
- no_baseline.json
- no_end_connection.json
- no_start_connection.json
- nearby.json
- on_crosswalk.json
- lane.json
- lane_connector.json
- nearby.json
- on_intersection.json
- on_intersection_with_no_stop_lines.json
- on_intersection_with_stop_lines.json
- get_adjacent_lanes.json
- lane_index.json
- lane_is_left_of.json
- lanes_are_adjacent.json
- lanes_in_same_roadblock.json
- all_map_objects.json
- nearby.json
- on_stopline.json
- __init__.py
- BUILD
- test_baseline_path.py
- test_intersection.py
- test_lane.py
- test_lane_connector.py
- test_nuplan_map.py
- test_polygon_map_object.py
- test_roadblock.py
- test_roadblock_connector.py
- test_stop_line.py
- test_utils.py
- __init__.py
- BUILD
- intersection.py
- lane.py
- lane_connector.py
- map_factory.py
- nuplan_map.py
- polygon_map_object.py
- polyline_map_object.py
- roadblock.py
- roadblock_connector.py
- stop_line.py
- utils.py
- __init__.py
- BUILD
- test_map_manager.py
- __init__.py
- abstract_map.py
- abstract_map_factory.py
- abstract_map_objects.py
- BUILD
- map_manager.py
- maps_datatypes.py
- test_utils.py
- __init__.py
- BUILD
- patch_test_methods.py
- test_distributed_scenario_filter.py
- test_file_backed_barrier.py
- test_function_validation.py
- test_helpers.py
- test_interface_validation.py
- test_io_utils.py
- test_patch.py
- test_s3_utils.py
- test_torch_math.py
- __init__.py
- BUILD
- function_validation.py
- instances.py
- interface_validation.py
- mock_s3_utils.py
- nuplan_test.py
- patch.py
- plugin.py
- __init__.py
- BUILD
- distributed_scenario_filter.py
- file_backed_barrier.py
- helpers.py
- interpolatable_state.py
- io_utils.py
- s3_utils.py
- split_state.py
- torch_math.py
- __init__.py
- __init__.py
- BUILD
- mock_s3_store.py
- __init__.py
- blob_store.py
- BUILD
- cache_store.py
- creator.py
- http_store.py
- local_store.py
- s3_store.py
- __init__.py
- BUILD
- data_types.py
- db.py
- sql_types.py
- templates.py
- utils.py
- __init__.py
- BUILD
- test_layer.py
- test_map_api.py
- test_map_explorer.py
- __init__.py
- BUILD
- gpkg_mapsdb.py
- imapsdb.py
- layer.py
- layer_dataset_ops.py
- map_api.py
- map_explorer.py
- metadata.py
- utils.py
- __init__.py
- BUILD
- minimal_db_test_utils.py
- test_db_cli_queries.py
- test_nuplan_db_utils.py
- test_nuplan_scenario_queries.py
- __init__.py
- BUILD
- camera.py
- db_cli_queries.py
- db_description_types.py
- image.py
- lidar_pc.py
- nuplan_db_utils.py
- nuplan_scenario_queries.py
- query_session.py
- sensor_data_table_row.py
- __init__.py
- BUILD
- test_camera.py
- test_category.py
- test_ego_pose.py
- test_image.py
- test_lidar.py
- test_lidar_box.py
- test_lidar_pc.py
- test_log.py
- test_nuplandb.py
- test_nuplandb_wrapper.py
- test_prediction_construction.py
- test_render.py
- test_scenario_tag.py
- test_scene.py
- test_track.py
- test_traffic_light_status.py
- test_utils.py
- test_vector_map_np.py
- __init__.py
- BUILD
- camera.py
- category.py
- database_utils.py
- ego_pose.py
- frame.py
- image.py
- lidar.py
- lidar_box.py
- lidar_pc.py
- log.py
- make_readme.py
- models.py
- nuplandb.py
- nuplandb_wrapper.py
- prediction_construction.py
- rendering_utils.py
- scenario_tag.py
- scene.py
- splitters.py
- templates.py
- track.py
- traffic_light_status.py
- utils.py
- vector_map_np.py
- __init__.py
- BUILD
- test_nuplan.py
- test_utils_nuplan_db.py
- __init__.py
- BUILD
- test_box3d.py
- __init__.py
- box.py
- box3d.py
- BUILD
- __init__.py
- BUILD
- test_label.py
- test_utils.py
- __init__.py
- BUILD
- label.py
- utils.py
- __init__.py
- BUILD
- test_lidar.py
- __init__.py
- BUILD
- lidar.py
- pointcloud.py
- __init__.py
- BUILD
- test_geometry.py
- test_image.py
- test_iterable_lidar_box.py
- test_measure.py
- test_plot.py
- __init__.py
- __init__.py
- BUILD
- geometry.py
- image.py
- iterable_lidar_box.py
- measure.py
- plot.py
- __init__.py
- BUILD
- __init__.py
- BUILD
- mock_abstract_metric_aggregator.py
- test_weighted_average_metric_aggregator.py
- __init__.py
- abstract_metric_aggregator.py
- BUILD
- weighted_average_metric_aggregator.py
- __init__.py
- BUILD
- test_violation_metric_base.py
- test_within_bound_metric_base.py
- __init__.py
- BUILD
- metric_base.py
- violation_metric_base.py
- within_bound_metric_base.py
- drivable_area_violation.json
- no_drivable_area_violation.json
- small_drivable_area_violation.json
- ego_does_not_drive_backward.json
- ego_drives_backward.json
- ego_slightly_drives_backward.json
- ego_acceleration.json
- ego_expert_l2_error.json
- ego_expert_l2_error_with_yaw.json
- ego_expert_l2_error_with_yaw_zero.json
- ego_is_comfortable.json
- ego_is_making_progress.json
- ego_jerk.json
- ego_lane_change.json
- ego_lat_acceleration.json
- ego_lat_jerk.json
- ego_lon_acceleration.json
- ego_lon_jerk.json
- ego_mean_speed.json
- ego_drives_backward.json
- ego_no_progress_along_expert_route.json
- ego_no_route.json
- ego_progress_along_expert_route.json
- ego_yaw_acceleration.json
- ego_yaw_rate.json
- active_front_collision.json
- active_lateral_collision.json
- active_rear_collision.json
- multiple_collisions.json
- no_collision.json
- stopped_ego_collision.json
- stopped_track_collision.json
- low_average_heading_error.json
- high_average_l2_error.json
- low_final_heading_error.json
- high_final_l2_error.json
- high_miss_rate.json
- no_speed_limit_violation.json
- speed_limit_violation.json
- ego_stopped.json
- in_collision.json
- no_collisions.json
- no_relevant_tracks.json
- time_to_collision_above_threshold.json
- __init__.py
- BUILD
- test_drivable_area_compliance.py
- test_driving_direction_compliance.py
- test_ego_acceleration.py
- test_ego_expert_l2_error.py
- test_ego_expert_l2_error_with_yaw.py
- test_ego_is_comfortable.py
- test_ego_is_making_progress.py
- test_ego_jerk.py
- test_ego_lane_change.py
- test_ego_lat_acceleration.py
- test_ego_lat_jerk.py
- test_ego_lon_acceleration.py
- test_ego_lon_jerk.py
- test_ego_mean_speed.py
- test_ego_progress_along_expert_route.py
- test_ego_yaw_acceleration.py
- test_ego_yaw_rate.py
- test_no_ego_at_fault_collisions.py
- test_planner_expert_average_heading_error_within_bound.py
- test_planner_expert_average_l2_error_within_bound.py
- test_planner_expert_final_heading_error_within_bound.py
- test_planner_expert_final_l2_error_within_bound.py
- test_planner_miss_rate_within_bound.py
- test_speed_limit_compliance.py
- test_time_to_collision_within_bound.py
- __init__.py
- BUILD
- drivable_area_compliance.py
- driving_direction_compliance.py
- ego_acceleration.py
- ego_expert_l2_error.py
- ego_expert_l2_error_with_yaw.py
- ego_is_comfortable.py
- ego_is_making_progress.py
- ego_jerk.py
- ego_lane_change.py
- ego_lat_acceleration.py
- ego_lat_jerk.py
- ego_lon_acceleration.py
- ego_lon_jerk.py
- ego_mean_speed.py
- ego_progress_along_expert_route.py
- ego_yaw_acceleration.py
- ego_yaw_rate.py
- no_ego_at_fault_collisions.py
- planner_expert_average_heading_error_within_bound.py
- planner_expert_average_l2_error_within_bound.py
- planner_expert_final_heading_error_within_bound.py
- planner_expert_final_l2_error_within_bound.py
- planner_miss_rate_within_bound.py
- speed_limit_compliance.py
- time_to_collision_within_bound.py
- ego_stop_at_stop_line.json
- __init__.py
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- test_ego_stop_at_stop_line.py
- __init__.py
- BUILD
- ego_stop_at_stop_line.py
- __init__.py
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- __init__.py
- BUILD
- test_metric_engine.py
- route_extractor.json
- __init__.py
- BUILD
- test_route_extractor.py
- __init__.py
- BUILD
- collision_utils.py
- expert_comparisons.py
- route_extractor.py
- state_extractors.py
- testing_utils.py
- __init__.py
- abstract_metric.py
- BUILD
- metric_dataframe.py
- metric_engine.py
- metric_file.py
- metric_result.py
- __init__.py
- BUILD
- test_base_tab.py
- test_nuboard_file.py
- test_simulation_tile.py
- __init__.py
- base_tab.py
- BUILD
- data_class.py
- experiment_file_data.py
- plot_data.py
- simulation_tile.py
- cloud.css
- histogram.css
- overview.css
- scenario.css
- utils.js
- __init__.py
- BUILD
- spectre-exp.min.css
- spectre-icons.min.css
- spectre.min.css
- style.css
- __init__.py
- BUILD
- cloud_tab_config.py
- histogram_tab_config.py
- overview_tab_config.py
- scenario_tab_config.py
- __init__.py
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- cloud_tab_js_code.py
- histogram_tab_js_code.py
- scenario_tab_js_code.py
- __init__.py
- BUILD
- skeleton_test_tab.py
- test_cloud_tab.py
- test_configuration_tab.py
- test_histogram_tab.py
- test_overview_tab.py
- test_scenario_tab.py
- __init__.py
- BUILD
- cloud_tab.py
- configuration_tab.py
- histogram_tab.py
- overview_tab.py
- scenario_tab.py
- cloud.html
- histogram.html
- overview.html
- scenario.html
- index.html
- __init__.py
- BUILD
- test_nuboard.py
- __init__.py
- BUILD
- test_nuboard_cloud_utils.py
- test_nuboard_utils.py
- utils.py
- __init__.py
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- nuboard_cloud_utils.py
- nuboard_histogram_utils.py
- utils.py
- __init__.py
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- nuboard.py
- README.md
- style.py
- __init__.py
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- test_cached_scenario.py
- __init__.py
- BUILD
- cached_scenario.py
- __init__.py
- BUILD
- nuplan_scenario_test_utils.py
- test_nuplan_scenario.py
- test_nuplan_scenario_builder.py
- test_nuplan_scenario_filter_utils.py
- test_nuplan_scenario_integration.py
- test_nuplan_scenario_utils.py
- test_nuplan_scenario_utils_integration.py
- __init__.py
- BUILD
- nuplan_scenario.py
- nuplan_scenario_builder.py
- nuplan_scenario_filter_utils.py
- nuplan_scenario_utils.py
- __init__.py
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- test_mock_abstract_scenario.py
- test_mock_abstract_scenario_builder.py
- __init__.py
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- mock_abstract_scenario.py
- mock_abstract_scenario_builder.py
- test_scenario_utils.py
- __init__.py
- abstract_scenario.py
- abstract_scenario_builder.py
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- scenario_filter.py
- scenario_utils.py
- __init__.py
- BUILD
- test_log.py
- test_lr_scheduler_builder.py
- test_scenario_builder.py
- test_simulation_callback_builder.py
- __init__.py
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- test_utils_checkpoint.py
- test_utils_config.py
- test_utils_config_distributed_training.py
- test_utils_type.py
- __init__.py
- BUILD
- utils_checkpoint.py
- utils_config.py
- utils_type.py
- __init__.py
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- data_augmentation_builder.py
- folder_builder.py
- logging_builder.py
- lr_scheduler_builder.py
- main_callback_builder.py
- metric_aggregator_builder.py
- metric_builder.py
- metric_runner_builder.py
- model_builder.py
- objectives_builder.py
- observation_builder.py
- planner_builder.py
- scenario_builder.py
- scenario_building_builder.py
- scenario_filter_builder.py
- simulation_builder.py
- simulation_callback_builder.py
- simulation_log_builder.py
- splitter_builder.py
- training_builder.py
- training_callback_builder.py
- training_metrics_builder.py
- worker_pool_builder.py
- raster_model.yaml
- simple_vector_model.yaml
- urban_driver_open_loop_model.yaml
- vector_model.yaml
- nuplan_challenge_scenario_mapping.yaml
- nuplan_scenario_mapping.yaml
- nuplan_vehicle_parameters.yaml
- mock_abstract_scenario_builder.yaml
- nuplan.yaml
- nuplan_challenge.yaml
- nuplan_mini.yaml
- all_scenarios.yaml
- closed_loop_few_training_scenario.yaml
- few_training_scenarios.yaml
- nuplan_challenge_scenarios.yaml
- one_continuous_log.yaml
- one_hand_picked_scenario.yaml
- one_of_each_scenario_type.yaml
- one_percent_of_lv_strip_scenarios.yaml
- simulation_test_split.yaml
- training_scenarios.yaml
- ego_stop_at_stop_line_statistics.yaml
- drivable_area_compliance_statistics.yaml
- driving_direction_compliance_statistics.yaml
- ego_is_comfortable_statistics.yaml
- ego_is_making_progress_statistics.yaml
- no_ego_at_fault_collisions_statistics.yaml
- planner_expert_average_heading_error_within_bound_statistics.yaml
- planner_expert_final_heading_error_within_bound_statistics.yaml
- planner_expert_final_l2_error_within_bound_statistics.yaml
- planner_miss_rate_within_bound_statistics.yaml
- speed_limit_compliance_statistics.yaml
- time_to_collision_within_bound_statistics.yaml
- ego_acceleration_statistics.yaml
- ego_expert_l2_error_statistics.yaml
- ego_expert_l2_error_with_yaw_statistics.yaml
- ego_jerk_statistics.yaml
- ego_lane_change_statistics.yaml
- ego_lat_acceleration_statistics.yaml
- ego_lat_jerk_statistics.yaml
- ego_lon_acceleration_statistics.yaml
- ego_lon_jerk_statistics.yaml
- ego_mean_speed_statistics.yaml
- ego_progress_along_expert_route_statistics.yaml
- ego_yaw_acceleration_statistics.yaml
- ego_yaw_rate_statistics.yaml
- planner_expert_average_l2_error_within_bound_statistics.yaml
- common_metrics.yaml
- default_metrics.yaml
- simulation_closed_loop_nonreactive_agents.yaml
- simulation_closed_loop_reactive_agents.yaml
- simulation_open_loop_boxes.yaml
- nuplan.yaml
- ray_distributed.yaml
- sequential.yaml
- single_machine_thread_pool.yaml
- __init__.py
- default_common.yaml
- default_experiment.yaml
- default_submission.yaml
- __init__.py
- default_nuboard.yaml
- serialization_callback.yaml
- simulation_log_callback.yaml
- timing_callback.yaml
- kinematic_bicycle_model.yaml
- ilqr_tracker.yaml
- lqr_tracker.yaml
- log_play_back_controller.yaml
- perfect_tracking_controller.yaml
- two_stage_controller.yaml
- completion_callback.yaml
- metric_aggregator_callback.yaml
- metric_file_callback.yaml
- metric_summary_callback.yaml
- publisher_callback.yaml
- time_callback.yaml
- validation_callback.yaml
- closed_loop_nonreactive_agents_weighted_average.yaml
- closed_loop_reactive_agents_weighted_average.yaml
- default_weighted_average.yaml
- open_loop_boxes_weighted_average.yaml
- box_observation.yaml
- ego_centric_ml_agents_observation.yaml
- idm_agents_observation.yaml
- lidar_pc_observation.yaml
- idm_planner.yaml
- log_future_planner.yaml
- ml_planner.yaml
- remote_planner.yaml
- simple_planner.yaml
- log_future_predictor.yaml
- step_simulation_time_controller.yaml
- __init__.py
- default_run_metric_aggregator.yaml
- default_simulation.yaml
- default_submission_planner.yaml
- default_callbacks.yaml
- learning_rate_monitor_callback.yaml
- model_checkpoint_callback.yaml
- scenario_scoring_callback.yaml
- time_logging_callback.yaml
- visualization_callback.yaml
- agent_dropout_augmentation.yaml
- gaussian_smooth_agent_augmentation.yaml
- generic_agent_dropout_augmentation.yaml
- kinematic_agent_augmentation.yaml
- kinematic_history_agent_augmentation.yaml
- kinematic_history_generic_agent_augmentation.yaml
- simple_agent_augmentation.yaml
- default_augmentation_schedulers.yaml
- stepwise_augmentation_attribute_scheduler.yaml
- stepwise_augmentation_probability_scheduler.yaml
- default_data_loader.yaml
- default_lightning.yaml
- multistep_lr.yaml
- one_cycle_lr.yaml
- agents_imitation_objective.yaml
- imitation_objective.yaml
- trajectory_weight_decay_imitation_objective.yaml
- adam.yaml
- adamw.yaml
- sgd.yaml
- default_scenario_type_weights.yaml
- agents_avg_displacement_error.yaml
- agents_avg_heading_error.yaml
- agents_final_displacement_error.yaml
- agents_final_heading_error.yaml
- avg_displacement_error.yaml
- avg_heading_error.yaml
- final_displacement_error.yaml
- final_heading_error.yaml
- constant_warm_up.yaml
- linear_warm_up.yaml
- __init__.py
- default_training.yaml
- __init__.py
- closed_loop_nonreactive_agents.yaml
- closed_loop_reactive_agents.yaml
- open_loop_boxes.yaml
- remote_closed_loop_nonreactive_agents.yaml
- remote_closed_loop_reactive_agents.yaml
- remote_open_loop_boxes.yaml
- validation_challenge.yaml
- training_raster_model.yaml
- training_simple_vector_model.yaml
- training_urban_driver_open_loop_model.yaml
- training_vector_model.yaml
- __init__.py
- __init__.py
- BUILD
- skeleton_test_simulation.py
- skeleton_test_train.py
- test_cache_mocked.py
- test_cache_nuplandb.py
- test_config_dataloader.py
- test_model_build.py
- test_one_cycle_lr_scheduler.py
- test_profiling.py
- test_run_challenge.py
- test_run_metric.py
- test_run_metric_aggregator.py
- test_run_nuboard.py
- test_run_parallel_worker.py
- test_run_ray_worker.py
- test_run_result_processor.py
- test_run_sequential_worker.py
- test_run_simulation.py
- test_run_submission_planner.py
- test_train_overfitting.py
- test_train_raster_model.py
- test_train_urban_driver_open_loop_model.py
- test_train_vector_model.py
- __init__.py
- BUILD
- profiler_context_manager.py
- run_metric.py
- run_metric_aggregator.py
- run_nuboard.py
- run_result_processor_aws.py
- run_simulation.py
- run_submission_planner.py
- run_training.py
- utils.py
- __init__.py
- BUILD
- skeleton_test_serialization_callback.py
- test_metric_callback.py
- test_serialization_callback_json.py
- test_serialization_callback_msgpack.py
- test_serialization_callback_pickle.py
- test_simulation_log.py
- test_simulation_log_callback.py
- test_timing_callback.py
- test_visualization_callback.py
- __init__.py
- abstract_callback.py
- BUILD
- metric_callback.py
- multi_callback.py
- serialization_callback.py
- simulation_log_callback.py
- timing_callback.py
- visualization_callback.py
- __init__.py
- BUILD
- test_kinematic_motion_model.py
- __init__.py
- abstract_motion_model.py
- BUILD
- kinematic_bicycle.py
- __init__.py
- BUILD
- test_log_playback.py
- test_perfect_tracking.py
- test_utils.py
- __init__.py
- BUILD
- test_ilqr_solver.py
- __init__.py
- BUILD
- ilqr_solver.py
- __init__.py
- BUILD
- test_ilqr_tracker.py
- test_lqr_tracker.py
- test_tracker_utils.py
- __init__.py
- abstract_tracker.py
- BUILD
- ilqr_tracker.py
- lqr.py
- tracker_utils.py
- __init__.py
- abstract_controller.py
- BUILD
- log_playback.py
- perfect_tracking.py
- two_stage_controller.py
- utils.py
- __init__.py
- BUILD
- test_simulation_history.py
- test_simulation_history_buffer.py
- __init__.py
- BUILD
- simulation_history.py
- simulation_history_buffer.py
- __init__.py
- BUILD
- test_completion_callback.py
- test_metric_aggregator_callback.py
- test_metric_file_callback.py
- test_metric_summary_callback.py
- test_publisher_callback.py
- test_validation_callback.py
- __init__.py
- abstract_main_callback.py
- BUILD
- completion_callback.py
- metric_aggregator_callback.py
- metric_file_callback.py
- metric_summary_callback.py
- multi_main_callback.py
- publisher_callback.py
- time_callback.py
- validation_callback.py
- baseline.json
- baseline.json
- green_traffic_lights.json
- merging.json
- red_traffic_lights.json
- red_traffic_lights_not_intersection.json
- __init__.py
- BUILD
- test_idm_agents_observation.py
- test_idm_manager.py
- test_idm_policy.py
- test_profile_idm_observation.py
- test_utils.py
- utils.py
- __init__.py
- BUILD
- idm_agent.py
- idm_agent_manager.py
- idm_agents_builder.py
- idm_policy.py
- idm_states.py
- utils.py
- __init__.py
- BUILD
- test_ego_centric_ml_agents.py
- __init__.py
- abstract_ml_agents.py
- abstract_observation.py
- BUILD
- ego_centric_ml_agents.py
- idm_agents.py
- lidar_pc.py
- observation_type.py
- tracks_observation.py
- __init__.py
- BUILD
- test_occupancy_map.py
- __init__.py
- abstract_occupancy_map.py
- BUILD
- geopandas_occupancy_map.py
- strtree_occupancy_map.py
- __init__.py
- BUILD
- test_path.py
- __init__.py
- BUILD
- interpolated_path.py
- path.py
- utils.py
- __init__.py
- BUILD
- test_ml_planner.py
- test_transform_utils.py
- __init__.py
- BUILD
- ml_planner.py
- model_loader.py
- transform_utils.py
- __init__.py
- BUILD
- mock_idm_planner.py
- test_abstract_idm_planner.py
- test_idm_planner.py
- test_log_future_planner.py
- test_remote_planner.py
- __init__.py
- BUILD
- test_breadth_first_search.py
- __init__.py
- breadth_first_search.py
- BUILD
- __init__.py
- abstract_idm_planner.py
- abstract_planner.py
- BUILD
- idm_planner.py
- log_future_planner.py
- planner_report.py
- remote_planner.py
- simple_planner.py
- __init__.py
- BUILD
- mock_abstract_predictor.py
- test_abstract_predictor.py
- test_log_future_predictor.py
- __init__.py
- abstract_predictor.py
- BUILD
- log_future_predictor.py
- predictor_report.py
- __init__.py
- BUILD
- test_metric_runner.py
- __init__.py
- abstract_runner.py
- BUILD
- executor.py
- metric_runner.py
- runner_report.py
- simulations_runner.py
- __init__.py
- abstract_simulation_time_controller.py
- BUILD
- simulation_iteration.py
- step_simulation_time_controller.py
- __init__.py
- BUILD
- test_simulation.py
- __init__.py
- BUILD
- test_interpolated_trajectory.py
- test_trajectory_sampling.py
- __init__.py
- abstract_trajectory.py
- BUILD
- interpolated_trajectory.py
- predicted_trajectory.py
- trajectory_sampling.py
- __init__.py
- abstract_visualization.py
- BUILD
- __init__.py
- BUILD
- simulation.py
- simulation_log.py
- simulation_setup.py
- __init__.py
- BUILD
- test_scenario_scoring_callback.py
- test_stepwise_augmentation_scheduler.py
- test_visualization_utils.py
- __init__.py
- BUILD
- scenario_scene_converter.py
- scene_converter.py
- visualization_utils.py
- __init__.py
- BUILD
- checkpoint_callback.py
- profile_callback.py
- scenario_scoring_callback.py
- stepwise_augmentation_scheduler.py
- time_logging_callback.py
- validate_setup_callback.py
- visualization_callback.py
- __init__.py
- BUILD
- test_agent_dropout_augmentation.py
- test_gaussian_smooth_agent_augmentation.py
- test_generic_agent_dropout_augmentation.py
- test_kinematic_agent_augmentation.py
- test_kinematic_history_agent_augmentation.py
- test_kinematic_history_generic_agent_augmentation.py
- test_simple_agent_augmentation.py
- __init__.py
- abstract_data_augmentation.py
- agent_dropout_augmentation.py
- BUILD
- data_augmentation_util.py
- gaussian_smooth_agent_augmentation.py
- generic_agent_dropout_augmentation.py
- kinematic_agent_augmentation.py
- kinematic_history_agent_augmentation.py
- kinematic_history_generic_agent_augmentation.py
- simple_agent_augmentation.py
- __init__.py
- BUILD
- skeleton_test_dataloader.py
- test_dataloader_ray.py
- test_dataloader_sequential.py
- test_distributed_sampler_wrapper.py
- test_distributed_weighted_sampler_init.py
- __init__.py
- BUILD
- datamodule.py
- distributed_sampler_wrapper.py
- log_splitter.py
- scenario_dataset.py
- splitter.py
- __init__.py
- BUILD
- cache_metadata_entry.py
- caching.py
- training.py
- __init__.py
- abstract_training_metric.py
- agents_imitation_metrics.py
- BUILD
- planning_metrics.py
- __init__.py
- BUILD
- test_deep_dynamical_system_layer.py
- test_kinematic_bicycle_layers_utils.py
- test_kinematic_unicycle_layers_utils.py
- __init__.py
- abstract_dynamics.py
- BUILD
- deep_dynamical_system_layer.py
- kinematic_bicycle_layer_geometric_center.py
- kinematic_bicycle_layer_rear_axle.py
- kinematic_bicycle_layers_utils.py
- kinematic_unicycle_layer_rear_axle.py
- kinematic_unicycle_layers_utils.py
- __init__.py
- BUILD
- test_lanegcn.py
- test_simple_vector_map_model.py
- test_urban_driver_open_loop_model.py
- __init__.py
- BUILD
- lanegcn_model.py
- lanegcn_utils.py
- raster_model.py
- simple_vector_map_model.py
- urban_driver_open_loop_model.py
- urban_driver_open_loop_model_utils.py
- __init__.py
- BUILD
- test_agents_imitation_objective.py
- test_imitation_objective.py
- test_trajectory_weight_decay_imitation_objective.py
- __init__.py
- abstract_objective.py
- agents_imitation_objective.py
- BUILD
- imitation_objective.py
- scenario_weight_utils.py
- trajectory_weight_decay_imitation_objective.py
- __init__.py
- BUILD
- lightning_module_wrapper.py
- scriptable_torch_module_wrapper.py
- torch_module_wrapper.py
- types.py
- __init__.py
- BUILD
- mock_feature_utils.py
- test_agents_feature_builder.py
- test_generic_agents_feature_builder.py
- test_vector_building.py
- test_vector_map_feature_builder.py
- test_vector_map_feature_builder_lane_metadata.py
- test_vector_set_map_feature_builder.py
- __init__.py
- abstract_feature_builder.py
- agents_feature_builder.py
- BUILD
- generic_agents_feature_builder.py
- raster_feature_builder.py
- scriptable_feature_builder.py
- vector_builder_utils.py
- vector_map_feature_builder.py
- vector_set_map_feature_builder.py
- __init__.py
- BUILD
- test_agents.py
- test_generic_agents.py
- test_raster_building.py
- test_trajectories.py
- test_trajectory.py
- test_vector_set_map.py
- test_vector_utils.py
- __init__.py
- abstract_model_feature.py
- agents.py
- agents_trajectories.py
- BUILD
- generic_agents.py
- raster.py
- raster_utils.py
- trajectories.py
- trajectory.py
- trajectory_utils.py
- vector_map.py
- vector_set_map.py
- vector_utils.py
- __init__.py
- BUILD
- test_ego_trajectory_target_builder.py
- __init__.py
- abstract_target_builder.py
- BUILD
- ego_trajectory_target_builder.py
- __init__.py
- BUILD
- dummy_vectormap_builder.py
- test_collate.py
- test_collate_dataloader.py
- test_feature_preprocessor.py
- test_utils_cache.py
- __init__.py
- BUILD
- test_agent_processing.py
- test_vector_preprocessing.py
- __init__.py
- agents_preprocessing.py
- BUILD
- feature_cache.py
- utils_cache.py
- utils_scene.py
- vector_preprocessing.py
- __init__.py
- BUILD
- feature_collate.py
- feature_preprocessor.py
- __init__.py
- BUILD
- __init__.py
- BUILD
- test_sequential_lr_scheduler.py
- __init__.py
- BUILD
- sequential_lr_scheduler.py
- __init__.py
- BUILD
- test_ray_worker.py
- test_splitter.py
- test_worker_pool.py
- test_workers_square_numbers_task.py
- __init__.py
- BUILD
- ray_execution.py
- worker_parallel.py
- worker_pool.py
- worker_ray.py
- worker_sequential.py
- worker_utils.py
- load_from_scene.json
- __init__.py
- BUILD
- test_from_scene_tracked_objects.py
- test_scene_simple_trajectory.py
- test_scene_trajectory.py
- test_scene_trajectory_state.py
- test_to_scene.py
- __init__.py
- BUILD
- from_scene.py
- scene.py
- scene_simple_trajectory.py
- to_scene.py
- __init__.py
- BUILD
- test_color.py
- test_scene_color.py
- __init__.py
- BUILD
- color.py
- __init__.py
- BUILD
- __init__.py
- BUILD
- test_evalai_interface.py
- test_leaderboard_writer.py
- __init__.py
- BUILD
- evalai_interface.py
- leaderboard_writer.py
- challenge.proto
- __init__.py
- BUILD
- test_challenge_servicers.py
- test_proto_converters.py
- test_submission_container.py
- test_submission_container_factory.py
- test_submission_container_manager.py
- test_submission_planner.py
- test_utils.py
- __init__.py
- BUILD
- test_aws_utils.py
- test_utils.py
- __init__.py
- aws_utils.py
- BUILD
- utils.py
- __init__.py
- BUILD
- test_base_submission_validator.py
- test_image_exists_validator.py
- test_image_is_runnable_validator.py
- test_submission_computes_trajectory_validator.py
- __init__.py
- abstract_submission_validator.py
- base_submission_validator.py
- BUILD
- image_exists_validator.py
- image_is_runnable_validator.py
- submission_computes_trajectory_validator.py
- __init__.py
- BUILD
- challenge_pb2.py
- challenge_pb2_grpc.py
- challenge_servicers.py
- proto_converters.py
- submission_container.py
- submission_container_factory.py
- submission_container_manager.py
- submission_planner.py
- validate_submission.py
- __init__.py
- BUILD
- entrypoint_result_processor.sh
- entrypoint_simulation.sh
- entrypoint_submission.sh
- requirements_pythonlint.txt
- requirements_pythonlint_lock.txt
- requirements_yamllint.txt
- requirements_yamllint_lock.txt
- nuplan_flow.svg
- planner_inputs_outputs_diagram.drawio.svg
- __init__.py
- BUILD
- test_nuplan_planner_tutorial_hydra.py
- test_nuplan_planner_tutorial_notebook.py
- test_scenario_visualization_tutorial_notebook.py
- __init__.py
- BUILD
- test_tutorial_utils.py
- __init__.py
- BUILD
- tutorial_utils.py
- __init__.py
- nuplan_advanced_model_training.ipynb
- nuplan_framework.ipynb
- nuplan_planner_tutorial.ipynb
- nuplan_scenario_visualization.ipynb
- nuplan_sensor_data_tutorial.ipynb
- .bazelrc
- .dockerignore
- .env
- .flake8
- .gitignore
- .mypy.ini
- .pre-commit-config.yaml
- .yamllint
- __init__.py
- BUILD
- docker-compose.yml
- Dockerfile
- Dockerfile.result_processor
- Dockerfile.submission
- environment.yml
- environment_submission.yml
- Jenkinsfile
- LICENSE.txt
- requirements.txt
- requirements_lock.txt
- requirements_submission.txt
- requirements_torch.txt
- requirements_torch_lock.txt
- setup.py
- sonar-project.properties
- tox.ini
- WORKSPACE
- run_cv_pdm_score_evaluation.sh
- run_ego_mlp_agent_pdm_score_evaluation.sh
- run_gaussianfusion.sh
- run_human_agent_pdm_score_evaluation.sh
- run_metric_caching.sh
- run_transfuser.sh
- run_cv_create_submission_pickle.sh
- run_merge_submission_pickles.sh
- run_dataset_cache.sh
- run_ego_mlp_agent_training.sh
- run_gaussianfusion_training.sh
- run_train_metric_cache.sh
- run_transfuser_training.sh
- tutorial_visualization.ipynb
- visualization.py
- .gitignore
- environment.yml
- LICENSE
- README.md
- requirements.txt
- setup.py
# 설치 가이드
1. 코드 내려받기
git clone https://github.com/Say2L/GaussianFusion
깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.
cd GaussianFusion
방금 내려받은 프로젝트 폴더 안으로 이동합니다.
2. Docker
쉬움 추천사전 준비물
- Git GitHub에서 프로젝트 코드를 내려받으려면 필요합니다.
- Docker Desktop 컨테이너를 빌드하고 실행하려면 필요합니다. 설치 후 실행해서 백그라운드에 켜두세요.
docker compose -f nuplan-devkit/docker-compose.yml up -d --build
compose 설정 파일에 정의된 서비스들을 대상으로 명령을 실행합니다.
터미널에 docker compose ps 를 입력해 컨테이너들이 Up 상태인지 확인하세요. README에 포트 번호가 적혀있다면 브라우저에서 http://localhost:포트번호 로 접속해보세요.
3. CMake
보통사전 준비물
⚠️ 이 프로젝트는 규모가 큰 저장소라, 이 방법이 실제 핵심 제품이 아니라 내부 하위 패키지를 가리키는 것일 수 있습니다. README 전체를 함께 확인해보세요.
cd navsim/agents/gaussianfusion/decoder/libs/localagg_prob_fast
이 프로젝트의 관련 파일이 하위 폴더 안에 있어서, 먼저 그 폴더로 이동합니다.
mkdir build && cd build
빌드 결과물을 담을 폴더를 만들고 그 안으로 이동합니다.
cmake ..
소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).
make
생성된 빌드 설정을 바탕으로 실제 컴파일을 진행해 실행 파일을 만듭니다.
build 폴더 안에 실행 파일이 생성됐는지 확인하고, 직접 실행해보세요 (예: ./build/앱이름).
4. Python
쉬움사전 준비물
pip install -r nuplan-devkit/requirements.txt
requirements.txt 등에 명시된 파이썬 라이브러리를 설치합니다.
jupyter notebook
브라우저에서 노트북(.ipynb) 파일들을 열람하고 실행할 수 있는 Jupyter 화면을 켭니다.
에러 메시지 없이 실행되고 터미널에 안내 문구가 출력되면 정상입니다.
// repository documentation
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