---
license: mit
tags:
- occupancy-prediction
- reinforcement-learning
- autonomous-driving
- stable-baselines3
- gradio
library_name: voxel_car
---

# SynthOccPred / voxel_car models

This repository contains two trained artifacts for the `voxel_car` project:

| Artifact | Hub path |
|---|---|
| Occupancy predictor checkpoint | `occupancy/ckpt_best.pt` |
| PPO policy for RL planner | `rl/ppo_voxel_car_final.zip` |

## Use from Python

```python
from voxel_car.hub import load_occnet_from_hf, load_ppo_from_hf

model, ego_cfg, cam_cfg, image_hw, device = load_occnet_from_hf(
    repo_id="mmkuznecov/SynthOccPredModels",
)

ppo = load_ppo_from_hf(
    repo_id="mmkuznecov/SynthOccPredModels",
)
```

## Use in the Gradio demo

```bash
export VOXEL_CAR_HF_REPO="mmkuznecov/SynthOccPredModels"
python app.py
```

The demo can run closed-loop scenarios with either:

1. standard A* planner over OccNet occupancy predictions
2. PPO-RL planner over OccNet occupancy predictions