schema_version: 4
release_name: BlindMap Checkpoints
release_type: huggingface_model_repository
code:
  repository: https://github.com/AlexZhu2000/BlindMap
  branch: TMC
  commit: 075b2c7120277a619f41bc49a58e3905ffad7aa7
license:
  hf_metadata: other
  file: LICENSE
  note: Current BlindMap academic license contains redistribution restrictions.
datasets:
  - name: OPV2V
    included: false
  - name: DAIR-V2X-C
    included: false
  - name: V2XSet
    included: false
layout_notes:
  - OPV2V provides camera and lidar_heterogeneous directories. The OPV2V LiDAR-only profile is evaluated from the LiDAR branch inside the heterogeneous m1m2 checkpoint, following the HEAL-style heterogeneous setup.
  - DAIR-V2X-C and V2XSet use separate camera, lidar, and heterogeneous checkpoint directories.
artifacts:
  - id: opv2v_lidar_heterogeneous_m1m2
    status: staged
    description: Shared OPV2V m1m2 checkpoint used for both LiDAR-only profile and heterogeneous runtime profile.
    directory: models/opv2v/lidar_heterogeneous
    checkpoint: models/opv2v/lidar_heterogeneous/net_epoch_bestval_at37.pth
    config: models/opv2v/lidar_heterogeneous/config.yaml
    result_log: models/opv2v/lidar_heterogeneous/source_result.txt
    source_directory: opencood/logs/BlindMap_opv2v_m1m2_2025_12_23_19_23_52_thre_0.01_use_history*
    source_checkpoint: net_epoch_bestval_at37.pth
    epoch: 37
    size_bytes: 82395477
    sha256: 9e2570b64335c99241dc47fc3aa6cc9f97180a78b3ff5b54330cbf5a2072b7f3
    profiles:
      - id: opv2v_lidar_runtime
        modality: lidar
        inference_modal_arg: 0
        recommended_command_suffix: --fusion_method intermediate --modal 0 --comm_volume_MB 1 --range 102.4,102.4
      - id: opv2v_heterogeneous
        modality: heterogeneous
        inference_modal_arg: 4
        recommended_command_suffix: --fusion_method intermediate --modal 4 --comm_volume_MB 1 --range 102.4,102.4
        local_log_reference:
          range: 102.4,102.4
          communication: 1 MB
          ap_0_3: 88.82
          ap_0_5: 87.33
          ap_0_7: 79.43

  - id: opv2v_camera
    status: staged
    description: Camera-only OPV2V checkpoint.
    directory: models/opv2v/camera
    checkpoint: models/opv2v/camera/net_epoch_bestval_at17.pth
    config: models/opv2v/camera/config.yaml
    result_log: models/opv2v/camera/source_result.txt
    source_directory: opencood/logs/BlindMap_opv2v_camera_pyramid_2025_12_13_14_05_49_thre_0.01_add_noise_use_history*
    source_checkpoint: net_epoch_bestval_at17.pth
    epoch: 17
    size_bytes: 81465973
    sha256: 33ddf54fe56d82d2719876a362b4838a4f21a14a068e9acd9c16066c41800fb3
    profiles:
      - id: opv2v_camera
        modality: camera
        inference_modal_arg: 1
        recommended_command_suffix: --fusion_method intermediate --modal 1 --comm_volume_MB 1 --range 102.4,102.4
        local_log_reference:
          range: 102.4,102.4
          communication: 1 MB
          ap_0_3: 69.58
          ap_0_5: 60.93
          ap_0_7: 42.04

  - id: dair_camera
    status: staged
    description: Camera-only DAIR-V2X-C checkpoint.
    directory: models/dair/camera
    checkpoint: models/dair/camera/net_epoch_bestval_at17.pth
    config: models/dair/camera/config.yaml
    result_log: models/dair/camera/source_result.txt
    source_directory: opencood/logs/BlindMap_DAIR_camera_pyramid_2026_01_11_21_55_38_thre_0.01*
    source_checkpoint: net_epoch_bestval_at17.pth
    epoch: 17
    size_bytes: 81567801
    sha256: b95722f3b58a13a979315a84133da971415cdc9b6a94bb555b013bd834576d81
    profiles:
      - id: dair_camera
        modality: camera
        inference_modal_arg: 1
        recommended_command_suffix: --fusion_method intermediate --modal 1 --comm_volume_MB 1 --range 102.4,51.2
        local_log_reference:
          range: 102.4,51.2
          communication: 1 MB
          ap_0_3: 32.69
          ap_0_5: 17.21
          ap_0_7: 3.83

  - id: dair_lidar
    status: pending_external_upload
    description: LiDAR-only DAIR-V2X-C checkpoint. The checkpoint files are stored on another server and should be added under this directory before the final release.
    directory: models/dair/lidar
    checkpoint: models/dair/lidar/net_epoch_bestval_at*.pth
    config: models/dair/lidar/config.yaml
    result_log: models/dair/lidar/source_result.txt
    source_directory: null
    source_checkpoint: null
    epoch: null
    size_bytes: null
    sha256: null
    profiles:
      - id: dair_lidar
        modality: lidar
        inference_modal_arg: 0
        recommended_command_suffix: --fusion_method intermediate --modal 0 --comm_volume_MB 1 --range 102.4,51.2

  - id: dair_heterogeneous_m1m2
    status: staged
    description: DAIR-V2X-C m1m2 checkpoint used for heterogeneous runtime profile.
    directory: models/dair/heterogeneous
    checkpoint: models/dair/heterogeneous/net_epoch_bestval_at35.pth
    config: models/dair/heterogeneous/config.yaml
    result_log: models/dair/heterogeneous/source_result.txt
    source_directory: opencood/logs/BlindMap_DAIR_m1m2_2026_01_06_16_59_21_thre_0.01*
    source_checkpoint: net_epoch_bestval_at35.pth
    epoch: 35
    size_bytes: 82497369
    sha256: 10511d4a9419f42051f01be2b9e6313b6718b2843f74795b5d9ceac7b200f7f5
    profiles:
      - id: dair_heterogeneous
        modality: heterogeneous
        inference_modal_arg: 4
        recommended_command_suffix: --fusion_method intermediate --modal 4 --comm_volume_MB 1 --range 102.4,51.2
        local_log_reference:
          range: 102.4,51.2
          communication: 1 MB
          ap_0_3: 75.51
          ap_0_5: 64.98
          ap_0_7: 40.42

  - id: v2xset_camera
    status: staged
    description: Camera-only V2XSet checkpoint.
    directory: models/v2xset/camera
    checkpoint: models/v2xset/camera/net_epoch_bestval_at19.pth
    config: models/v2xset/camera/config.yaml
    result_log: models/v2xset/camera/source_result.txt
    source_directory: opencood/logs/BlindMap_v2xset_camera_pyramid_2026_01_06_14_36_03_thre_0.01_add_noise_use_history
    source_checkpoint: net_epoch_bestval_at19.pth
    epoch: 19
    size_bytes: 81465973
    sha256: 0dccab286798a380a78257ce7559e7e7978295a67e42d386e558f9f397e4edca
    profiles:
      - id: v2xset_camera
        modality: camera
        inference_modal_arg: 1
        recommended_command_suffix: --fusion_method intermediate --modal 1 --comm_volume_MB 1 --range 102.4,102.4
        local_log_reference:
          range: 102.4,102.4
          communication: 1 MB
          ap_0_3: 49.65
          ap_0_5: 39.19
          ap_0_7: 21.90

  - id: v2xset_lidar
    status: pending_external_upload
    description: LiDAR-only V2XSet checkpoint. The checkpoint files are stored on another server and should be added under this directory before the final release.
    directory: models/v2xset/lidar
    checkpoint: models/v2xset/lidar/net_epoch_bestval_at*.pth
    config: models/v2xset/lidar/config.yaml
    result_log: models/v2xset/lidar/source_result.txt
    source_directory: null
    source_checkpoint: null
    epoch: null
    size_bytes: null
    sha256: null
    profiles:
      - id: v2xset_lidar
        modality: lidar
        inference_modal_arg: 0
        recommended_command_suffix: --fusion_method intermediate --modal 0 --comm_volume_MB 1 --range 102.4,102.4

  - id: v2xset_heterogeneous_m1m2
    status: staged
    description: V2XSet m1m2 checkpoint used for heterogeneous runtime profile.
    directory: models/v2xset/heterogeneous
    checkpoint: models/v2xset/heterogeneous/net_epoch_bestval_at23.pth
    config: models/v2xset/heterogeneous/config.yaml
    result_log: models/v2xset/heterogeneous/source_result.txt
    source_directory: opencood/logs/BlindMap_v2xset_Pyramid_m1m2_2026_01_07_15_15_25_thre_0.01_add_noise_use_history
    source_checkpoint: net_epoch_bestval_at23.pth
    epoch: 23
    size_bytes: 82395477
    sha256: 60a73178b7178a18ea59e7beb8f0b4e7c1d115df3d7a97b9a4ebc511dc6d7bb9
    profiles:
      - id: v2xset_heterogeneous
        modality: heterogeneous
        inference_modal_arg: 4
        recommended_command_suffix: --fusion_method intermediate --modal 4 --comm_volume_MB 1 --range 102.4,102.4
        local_log_reference:
          range: 102.4,102.4
          communication: 1 MB
          ap_0_3: 86.69
          ap_0_5: 83.86
          ap_0_7: 68.49