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Kevin-thu/
Epona

Name: Epona
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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 .

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.