├── .github └── FUNDING.yml ├── .gitignore ├── CITATION.cff ├── CODE_OF_CONDUCT.md ├── LICENSE ├── README.md ├── docker └── Dockerfile ├── docs ├── DATA_PREP.md ├── INSTALL.md └── TRAIN_EVAL.md ├── projects ├── __init__.py ├── configs │ ├── _base_ │ │ ├── datasets │ │ │ └── nus-3d.py │ │ └── default_runtime.py │ ├── bevformer │ │ └── base_bevformer.py │ ├── stage1_track_map │ │ └── base_track_map.py │ └── stage2_e2e │ │ └── base_e2e.py └── mmdet3d_plugin │ ├── __init__.py │ ├── core │ ├── bbox │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── hungarian_assigner_3d.py │ │ │ └── hungarian_assigner_3d_track.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── detr3d_track_coder.py │ │ │ └── nms_free_coder.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.py │ │ └── util.py │ └── evaluation │ │ ├── __init__.py │ │ └── eval_hooks.py │ ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── data_utils │ │ ├── data_utils.py │ │ ├── rasterize.py │ │ ├── trajectory_api.py │ │ └── vector_map.py │ ├── eval_utils │ │ ├── eval_utils.py │ │ ├── map_api.py │ │ ├── metric_utils.py │ │ ├── nuscenes_eval.py │ │ └── nuscenes_eval_motion.py │ ├── nuscenes_bev_dataset.py │ ├── nuscenes_e2e_dataset.py │ ├── nuscenes_eval.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── occflow_label.py │ │ └── transform_3d.py │ └── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ └── sampler.py │ ├── losses │ ├── __init__.py │ ├── dice_loss.py │ ├── mtp_loss.py │ ├── occflow_loss.py │ ├── planning_loss.py │ ├── track_loss.py │ └── traj_loss.py │ ├── models │ ├── backbones │ │ ├── __init__.py │ │ └── vovnet.py │ ├── hooks │ │ ├── __init__.py │ │ └── hooks.py │ ├── opt │ │ ├── __init__.py │ │ └── adamw.py │ └── utils │ │ ├── __init__.py │ │ ├── bricks.py │ │ ├── functional.py │ │ ├── grid_mask.py │ │ └── visual.py │ └── uniad │ ├── __init__.py │ ├── apis │ ├── __init__.py │ ├── mmdet_train.py │ ├── test.py │ └── train.py │ ├── dense_heads │ ├── __init__.py │ ├── bevformer_head.py │ ├── motion_head.py │ ├── motion_head_plugin │ │ ├── __init__.py │ │ ├── base_motion_head.py │ │ ├── modules.py │ │ ├── motion_deformable_attn.py │ │ ├── motion_optimization.py │ │ └── motion_utils.py │ ├── occ_head.py │ ├── occ_head_plugin │ │ ├── __init__.py │ │ ├── metrics.py │ │ ├── modules.py │ │ └── utils.py │ ├── panseg_head.py │ ├── planning_head.py │ ├── planning_head_plugin │ │ ├── __init__.py │ │ ├── collision_optimization.py │ │ └── planning_metrics.py │ ├── seg_head_plugin │ │ ├── __init__.py │ │ ├── seg_assigner.py │ │ ├── seg_deformable_transformer.py │ │ ├── seg_detr_head.py │ │ ├── seg_mask_head.py │ │ └── seg_utils.py │ ├── track_head.py │ └── track_head_plugin │ │ ├── __init__.py │ │ ├── modules.py │ │ ├── track_instance.py │ │ └── tracker.py │ ├── detectors │ ├── __init__.py │ ├── bevformer.py │ ├── uniad_e2e.py │ └── uniad_track.py │ ├── hooks │ ├── __init__.py │ └── custom_hooks.py │ └── modules │ ├── __init__.py │ ├── custom_base_transformer_layer.py │ ├── decoder.py │ ├── encoder.py │ ├── multi_scale_deformable_attn_function.py │ ├── spatial_cross_attention.py │ ├── temporal_self_attention.py │ └── transformer.py ├── requirements.txt ├── sources ├── cvpr23_uniad_poster.png ├── legend.png ├── opendv_dataset.png ├── pipeline.png ├── sdc_car.png ├── template.png └── vista.gif └── tools ├── analysis_tools ├── __init__.py ├── analyze_logs.py ├── benchmark.py └── visualize │ ├── bev_visual.py │ ├── render │ ├── base_render.py │ ├── bev_render.py │ └── cam_render.py │ ├── run.py │ └── utils.py ├── create_data.py ├── data_converter ├── __init__.py └── uniad_nuscenes_converter.py ├── test.py ├── train.py ├── uniad_create_data.sh ├── uniad_dist_eval.sh ├── uniad_dist_train.sh ├── uniad_slurm_eval.sh ├── uniad_slurm_train.sh └── uniad_vis_result.sh /.github/FUNDING.yml: -------------------------------------------------------------------------------- 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