TE-Aware-E2E-AD
[ECCV 2026] Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Driving
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- app-navsim-diffusiondrive-drivor-vis.png
- app-navsim-ltf-vis.png
- app-nuscenes-vad-timeseries.png
- app-nuscenes-vad-vis.png
- method.png
- navsimv2-vis.png
- teaser.png
- release_on_merge.yml
- squash_for_release.yml
- navsim_cameras.gif
- navsim_leaderboard.png
- navsim_transparent.png
- navsimv2_e2e_banner.png
- navsimv2_warmup_banner.png
- agents.md
- cache.md
- install.md
- metrics.md
- splits.md
- submission.md
- traffic_agents.md
- download_maps.sh
- download_mini.sh
- download_navhard_two_stage.sh
- download_navtrain_aws.sh
- download_navtrain_hf.sh
- download_private_test_hard_two_stage.sh
- download_test.sh
- download_trainval.sh
- download_warmup_two_stage.sh
- blocks.py
- conditional_unet1d.py
- multimodal_loss.py
- scheduler.py
- transfuser_te_agent.py
- transfuser_te_backbone.py
- transfuser_te_callback.py
- transfuser_te_config.py
- transfuser_te_features.py
- transfuser_te_loss.py
- transfuser_te_model.py
- transfuser_te_targets.py
- blocks.py
- conditional_unet1d.py
- multimodal_loss.py
- scheduler.py
- transfuser_te_agent.py
- transfuser_te_backbone.py
- transfuser_te_callback.py
- transfuser_te_config.py
- transfuser_te_features.py
- transfuser_te_loss.py
- transfuser_te_model.py
- transfuser_te_targets.py
- transfuser_agent.py
- transfuser_backbone.py
- transfuser_callback.py
- transfuser_config.py
- transfuser_features.py
- transfuser_loss.py
- transfuser_model.py
- transfuser_te_agent.py
- transfuser_te_backbone.py
- transfuser_te_callback.py
- transfuser_te_config.py
- transfuser_te_features.py
- transfuser_te_loss.py
- transfuser_te_model.py
- transfuser_te_agent.py
- transfuser_te_backbone.py
- transfuser_te_callback.py
- transfuser_te_config.py
- transfuser_te_features.py
- transfuser_te_loss.py
- transfuser_te_model.py
- __init__.py
- abstract_agent.py
- constant_velocity_agent.py
- ego_status_mlp_agent.py
- human_agent.py
- __init__.py
- dataclasses.py
- dataloader.py
- dataloader_private.py
- enums.py
- __init__.py
- pdm_score.py
- __init__.py
- caching.py
- metric_cache.py
- metric_cache_processor.py
- metric_caching_utils.py
- __init__.py
- navsim_scenario.py
- navsim_scenario_utils.py
- __init__.py
- observation_builder.py
- planner_builder.py
- simulation_builder.py
- worker_pool_builder.py
- constant_velocity_agent.yaml
- diffusiondrive_te_agent.yaml
- diffusiondrive_te_simscale_agent.yaml
- ego_status_mlp_agent.yaml
- human_agent.yaml
- ltf_te_agent.yaml
- ltf_te_simscale_agent.yaml
- transfuser_agent.yaml
- constant_velocity_traffic_agents.yaml
- log_replay_traffic_agents.yaml
- navsim_IDM_traffic_agents.yaml
- __init__.py
- all_scenes.yaml
- competition_private_tokens.yaml
- navhard_two_stage.yaml
- navmini.yaml
- navsafe_two_stage.yaml
- navtest.yaml
- navtest_two_stage.yaml
- navtrain.yaml
- navtrain_reaction_pdm_v1.0-1.yaml
- navtrain_reaction_pdm_v1.0-2.yaml
- navtrain_reaction_recovery_v1.0-1.yaml
- navtrain_reaction_recovery_v1.0-2.yaml
- private_test_hard_two_stage.yaml
- warmup_navsafe_two_stage_extended.yaml
- warmup_two_stage.yaml
- mini.yaml
- navhard_two_stage.yaml
- navmini.yaml
- navsafe_two_stage.yaml
- navtest.yaml
- navtest_two_stage.yaml
- navtrain.yaml
- navtrain_reaction_pdm_v1.0-1.yaml
- navtrain_reaction_pdm_v1.0-2.yaml
- navtrain_reaction_recovery_v1.0-1.yaml
- navtrain_reaction_recovery_v1.0-2.yaml
- private_test_hard_two_stage.yaml
- test.yaml
- trainval.yaml
- warmup_navsafe_two_stage_extended.yaml
- warmup_two_stage.yaml
- __init__.py
- ray_distributed.yaml
- ray_distributed_no_torch.yaml
- sequential.yaml
- single_machine_thread_pool.yaml
- __init__.py
- default_common.yaml
- default_dataset_paths.yaml
- default_evaluation.yaml
- __init__.py
- default_metric_caching.yaml
- pdm_and_traffic_scorer.yaml
- pdm_scorer.yaml
- __init__.py
- default_run_create_submission_pickle.yaml
- default_run_merge_submission_pickles.yaml
- default_run_pdm_score.yaml
- default_run_pdm_score_from_submission.yaml
- default_log_split_synthetic_reaction_pdm_v1.0-1.yaml
- default_log_split_synthetic_reaction_pdm_v1.0-2.yaml
- default_log_split_synthetic_reaction_recovery_v1.0-1.yaml
- default_log_split_synthetic_reaction_recovery_v1.0-2.yaml
- __init__.py
- default_train_val_test_log_split.yaml
- default_training.yaml
- default_training_simscale.yaml
- __init__.py
- __init__.py
- run_create_submission_pickle.py
- run_create_submission_pickle_challenge.py
- run_dataset_caching.py
- run_metric_caching.py
- run_pdm_score.py
- run_pdm_score_from_submission.py
- run_pdm_score_one_stage.py
- run_training.py
- run_training_diffusiondrive.py
- run_training_diffusiondrive_simscale.py
- run_training_simscale.py
- utils.py
- __init__.py
- navsim_idm_agent_manager.py
- navsim_idm_agents_builder.py
- __init__.py
- navsim_idm_agents.py
- __init__.py
- pdm_object_manager.py
- pdm_observation.py
- pdm_occupancy_map.py
- __init__.py
- batch_idm_policy.py
- pdm_generator.py
- pdm_proposal.py
- __init__.py
- pdm_and_traffic_scorer.py
- pdm_comfort_metrics.py
- pdm_scorer.py
- pdm_scorer_utils.py
- scene_aggregator.py
- __init__.py
- batch_kinematic_bicycle.py
- batch_lqr.py
- batch_lqr_utils.py
- pdm_simulator.py
- __init__.py
- bfs_roadblock.py
- dijkstra.py
- __init__.py
- pdm_array_representation.py
- pdm_emergency_brake.py
- pdm_enums.py
- pdm_geometry_utils.py
- pdm_path.py
- route_utils.py
- __init__.py
- abstract_pdm_closed_planner.py
- abstract_pdm_planner.py
- pdm_closed_planner.py
- __init__.py
- __init__.py
- time_logging_callback.py
- __init__.py
- abstract_feature_target_builder.py
- agent_lightning_module.py
- custom_agent_lightning_module.py
- dataset.py
- __init__.py
- worker_ray_no_torch.py
- __init__.py
- __init__.py
- abstract_traffic_agents_policy.py
- constant_velocity_traffic_agents.py
- log_replay_traffic_agents.py
- navsim_IDM_traffic_agents.py
- __init__.py
- bev.py
- camera.py
- config.py
- lidar.py
- plots.py
- __init__.py
- run_cv_pdm_score_evaluation.sh
- run_ego_mlp_agent_pdm_score_evaluation.sh
- run_human_agent_pdm_score_evaluation.sh
- run_ltf_pdm_score_evaluation.sh
- run_metric_caching.sh
- run_transfuser_pdm_score_evaluation.sh
- run_cv_create_submission_pickle.sh
- run_cv_create_submission_pickle_navhard.sh
- run_cv_create_submission_pickle_warmup.sh
- dataset_cache.sh
- run_diffusiondrive_te_agent.sh
- run_diffusiondrive_te_simscale_agent.sh
- run_ltf_te_agent.sh
- run_ltf_te_simscale_agent.sh
- run_navhard_metric_caching.sh
- run_ego_mlp_agent_training.sh
- run_transfuser_training.sh
- tutorial_visualization.ipynb
- .flake8
- .gitignore
- .isort.cfg
- .pre-commit-config.yaml
- environment.yml
- LICENSE
- README.md
- requirements.txt
- setup.py
- bus.jpg
- zidane.jpg
- african-wildlife.yaml
- Argoverse.yaml
- brain-tumor.yaml
- carparts-seg.yaml
- coco-pose.yaml
- coco.yaml
- coco128-seg.yaml
- coco128.yaml
- coco8-pose.yaml
- coco8-seg.yaml
- coco8.yaml
- crack-seg.yaml
- dota8.yaml
- DOTAv1.5.yaml
- DOTAv1.yaml
- GlobalWheat2020.yaml
- ImageNet.yaml
- lvis.yaml
- Objects365.yaml
- open-images-v7.yaml
- package-seg.yaml
- SKU-110K.yaml
- tiger-pose.yaml
- VisDrone.yaml
- VOC.yaml
- xView.yaml
- rtdetr-l.yaml
- rtdetr-resnet101.yaml
- rtdetr-resnet50.yaml
- rtdetr-x.yaml
- yolov3-spp.yaml
- yolov3-tiny.yaml
- yolov3.yaml
- yolov5-p6.yaml
- yolov5.yaml
- yolov6.yaml
- yolov8-cls-resnet101.yaml
- yolov8-cls-resnet50.yaml
- yolov8-cls.yaml
- yolov8-ghost-p2.yaml
- yolov8-ghost-p6.yaml
- yolov8-ghost.yaml
- yolov8-obb.yaml
- yolov8-p2.yaml
- yolov8-p6.yaml
- yolov8-pose-p6.yaml
- yolov8-pose.yaml
- yolov8-rtdetr.yaml
- yolov8-seg-p6.yaml
- yolov8-seg.yaml
- yolov8-world.yaml
- yolov8-worldv2.yaml
- yolov8.yaml
- yolov9c.yaml
- yolov9e.yaml
- README.md
- botsort.yaml
- bytetrack.yaml
- __init__.py
- default.yaml
- __init__.py
- dash.py
- __init__.py
- explorer.py
- utils.py
- download_weights.sh
- get_coco.sh
- get_coco128.sh
- get_imagenet.sh
- __init__.py
- annotator.py
- augment.py
- base.py
- build.py
- converter.py
- dataset.py
- loaders.py
- split_dota.py
- utils.py
- coming_soon_template.md
- README.md
- __init__.py
- exporter.py
- model.py
- predictor.py
- results.py
- trainer.py
- tuner.py
- validator.py
- README.md
- __init__.py
- auth.py
- session.py
- utils.py
- __init__.py
- model.py
- predict.py
- prompt.py
- utils.py
- val.py
- __init__.py
- model.py
- predict.py
- val.py
- __init__.py
- model.py
- predict.py
- train.py
- val.py
- __init__.py
- decoders.py
- encoders.py
- sam.py
- tiny_encoder.py
- transformer.py
- __init__.py
- amg.py
- build.py
- model.py
- predict.py
- __init__.py
- loss.py
- ops.py
- __init__.py
- predict.py
- train.py
- val.py
- __init__.py
- predict.py
- train.py
- val.py
- __init__.py
- predict.py
- train.py
- val.py
- __init__.py
- predict.py
- train.py
- val.py
- __init__.py
- predict.py
- train.py
- val.py
- __init__.py
- train.py
- train_world.py
- __init__.py
- model.py
- __init__.py
- __init__.py
- block.py
- conv.py
- head.py
- transformer.py
- utils.py
- __init__.py
- autobackend.py
- tasks.py
- navtrain_reaction_pdm_v1.0-1.txt
- navtrain_reaction_pdm_v1.0-2.txt
- navtrain_reaction_recovery_v1.0-1.txt
- navtrain_reaction_recovery_v1.0-2.txt
- __init__.py
- ai_gym.py
- distance_calculation.py
- heatmap.py
- object_counter.py
- queue_management.py
- speed_estimation.py
- __init__.py
- gmc.py
- kalman_filter.py
- matching.py
- __init__.py
- basetrack.py
- bot_sort.py
- byte_tracker.py
- README.md
- track.py
- __init__.py
- base.py
- clearml.py
- comet.py
- dvc.py
- hub.py
- mlflow.py
- neptune.py
- raytune.py
- tensorboard.py
- wb.py
- __init__.py
- autobatch.py
- benchmarks.py
- checks.py
- dist.py
- downloads.py
- errors.py
- files.py
- instance.py
- loss.py
- metrics.py
- ops.py
- patches.py
- plotting.py
- tal.py
- torch_utils.py
- triton.py
- tuner.py
- __init__.py
- CONTRIBUTING.md
- navsim_inference.py
- nusc_inference.py
- README.md
- README.zh-CN.md
- simscale_inference.py
- depth.png
- intrinsics.npy
- output.png
- rgb.png
- nuscenes_surround.gif
- theoffice.gif
- unidepth-banner.png
- unidepthv2-banner.png
- V2_README.md
- config_v1_cnvnxtl.json
- config_v1_vitl14.json
- config_v2_vitb14.json
- config_v2_vitl14.json
- config_v2_vits14.json
- config_v2old_vitl14.json
- config_v2old_vits14.json
- train_v1_vitl14.json
- demo.py
- README.md
- train.py
- __init__.py
- formating.py
- transforms.py
- _2d3ds.py
- _4dor.py
- __init__.py
- a2d2.py
- adt.py
- aimotive.py
- argoverse.py
- argoverse2.py
- arkit.py
- ase.py
- base_dataset.py
- bdd.py
- bedlam.py
- behave.py
- blendedmvg.py
- cityscape.py
- ddad.py
- deep360.py
- dense.py
- diml.py
- diode.py
- dl3dv.py
- driving_stereo.py
- dtu_rmvd.py
- dummy.py
- dynamic_replica.py
- eden.py
- eth3d.py
- eth3d_rmvd.py
- facedepth.py
- flsea.py
- futurehouse.py
- gibson.py
- hammer.py
- hm3d.py
- hoi4d.py
- hrwsi.py
- hypersim.py
- ibims.py
- image_dataset.py
- ken_burns.py
- kitti.py
- kitti360.py
- kitti_multi.py
- kitti_rmvd.py
- lyft.py
- mapillary.py
- matrix_city.py
- matterport3d.py
- megadepth.py
- megadepth_s.py
- midair.py
- mip.py
- ms2.py
- mvimgnet.py
- mvsynth.py
- nerds360.py
- niantic_mapfree.py
- nuscenes.py
- nyuv2.py
- oasis.py
- point_odyssey.py
- proteus.py
- samplers copy.py
- samplers.py
- scannet.py
- scannetpp.py
- sequence_dataset.py
- sintel copy.py
- sintel.py
- sunrgbd.py
- synscapes.py
- tartanair.py
- taskonomy.py
- tat_rmvd.py
- theo.py
- unrealstereo4k.py
- urbansyn.py
- utils.py
- utils_decode.py
- vkitti.py
- void.py
- waymo.py
- wildrgbd.py
- __init__.py
- activation.py
- attention.py
- convnext.py
- drop_path.py
- layer_scale.py
- mlp.py
- nystrom_attention.py
- positional_encoding.py
- upsample.py
- __init__.py
- attention.py
- block.py
- dino_head.py
- drop_path.py
- layer_scale.py
- mlp.py
- patch_embed.py
- swiglu_ffn.py
- __init__.py
- convnext.py
- convnext2.py
- dinov2.py
- __init__.py
- decoder.py
- unidepthv1.py
- __init__.py
- decoder.py
- decoder_old.py
- export.py
- unidepthv2.py
- unidepthv2_old.py
- __init__.py
- encoder.py
- __init__.py
- extract_patches.py
- __init__.py
- patch_extractor.py
- extract_patches_cpu.cpp
- extract_patches_cpu.h
- extract_patches_cuda.h
- extract_patches_kernel.cu
- extract_patches_kernel.cuh
- extract_patches.cpp
- extract_patches.h
- __init__.py
- compile.sh
- setup.py
- test.py
- __init__.py
- knn.py
- dispatch.cuh
- index_utils.cuh
- mink.cuh
- pytorch3d_cutils.h
- knn.cu
- knn.h
- knn_cpu.cpp
- knn_ext.cpp
- __init__.py
- compile.sh
- setup.py
- __init__.py
- arel.py
- confidence.py
- distill.py
- dummy.py
- local_ssi.py
- regression.py
- silog.py
- utils.py
- __init__.py
- scheduler.py
- __init__.py
- camera.py
- chamfer_distance.py
- constants.py
- coordinate.py
- distributed.py
- ema_torch.py
- evaluation_depth.py
- geometric.py
- misc.py
- positional_embedding.py
- sht.py
- validation.py
- visualization.py
- .gitignore
- hubconf.py
- LICENSE
- mapping_openlane_nusc.json
- missing.txt
- navsim_te_gen.py
- nusc_te_gen.py
- pyproject.toml
- README.md
- requirements.txt
- simscale_te_gen.py
- .gitignore
- .nojekyll
- E2E_3D_traffic_light.pdf
- index.html
- LICENSE
- README.md
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