perception

Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.

[CVPR'23] Universal Instance Perception as Object Discovery and Retrieval

OpenEMMA, a permissively licensed open source "reproduction" of Waymo’s EMMA model.

An OpenAI gym wrapper for CARLA simulator

Modular autonomous driving platform running on the CARLA simulator and real-world vehicles.

A LiDAR SLAM system that just works

(CVPR 2022) A minimalist, mapless, end-to-end self-driving stack for joint perception, prediction, planning and control.

[ECCV2024 Oral🔥] Official Implementation of "GiT: Towards Generalist Vision Transformer through Universal Language Interface"

A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task.

[ICRA 2022] CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation

PillarNeXt: Rethinking Network Designs for 3D Object Detection in LiDAR Point Clouds (CVPR 2023)

Scientific computing library for optics, computer graphics and visual perception.

Research platform for 3D object detection in PyTorch.

A ROS 2 tool for exporting bags to human readable files. Supports pluggable export routines to handle any message type.

A metric for Perceptual Image-Error Assessment through Pairwise Preference (PieAPP at CVPR 2018).

A set of Python scripts to evaluate the Automotive Datasets provided by Prophesee

Model-agnostic state layer for world models — turn any detector (YOLO · VLM · DINO) into one standard, queryable stream of events + latent state. numpy-only, runs on CPU at the edge.

[ICRA2023] CoAlign: Robust Collaborative 3D Object Detection in Presence of Pose Errors

[CoRL 24 Oral] D^3Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement

A novel visual tool