metadata
license: mit
Epona: Autoregressive Diffusion World Model for Autonomous Driving
This repository contains the model checkpoints and test meta data in the paper Epona: Autoregressive Diffusion World Model for Autonomous Driving .
🌏 Project page : https://kevin-thu.github.io/Epona/.
⭐ Code: https://github.com/Kevin-thu/Epona.
It contains four model checkpoints:
epona_nuplan.pkl: The base world model trained on NuPlan from scratch;epona_nuplan+nusc.pkl: The world model finetuned on NuScenes based on the base model;epona_nuplan+china.pkl: The world model fintuned on in-house China driving data based on the base model;dcae_td_20000.pkl: The temporal-aware DCAE (downsampling rate=32, channel dim=32, temporal patch size=6) fintuned on NuPlan video clips.
And two folders of preprocessed json files:
test_meta_data_nuplan: Preprocessed meta infos on NuPlan test set (not including train set);meta_data_nusc: Preprocessed meta infos on NuScenes train set and validation set.