机器学习模型

Autoware 感知堆栈使用模型进行推理.这些模型将作为 setup-dev-env.sh 脚本的一部分自动下载.

这些模型由 Web.Auto 托管.

默认模型目录 (data_dir) 是 ~/autoware_data.

下载说明

请按照 Autoware 下载说明 中的下载说明下载更新的型号.

也可以使用 wget 或 curl 等下载工具手动下载模型.每个模型的权重文件和 param 文件的最新 url 可以在 autoware main.yaml file 中找到.

下载 lidar_centerpoint 模型的示例：

# lidar_centerpoint

$ mkdir -p ~/autoware_data/lidar_centerpoint/
$ wget -P ~/autoware_data/lidar_centerpoint/ \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint.onnx \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint.onnx \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint_tiny.onnx \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint_tiny.onnx \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_ml_package.param.yaml \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_tiny_ml_package.param.yaml \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_sigma_ml_package.param.yaml \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/detection_class_remapper.param.yaml \
       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/deploy_metadata.yaml