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.