🤗 Diffusers: State-of-the-art diffusion models for image, video, and audio generation in PyTorch.

Repo of "GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Driving"

[CVPR 2025 Highlight] Truncated Diffusion Model for Real-Time End-to-End Autonomous Driving

Motion planning algorithms commonly used on autonomous vehicles. (path planning + path tracking)

SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation

Ultra Fast Deep Lane Detection With Hybrid Anchor Driven Ordinal Classification (TPAMI 2022)

The devkit of the nuPlan dataset.

OpenMMLab Pose Estimation Toolbox and Benchmark.

Fork PETR: Position Embedding Transformation for Multi-View 3D Object Detection & [ICCV2023] PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images

Offical implementation of ICCV2023 paper 3DMOTFormer: Graph Transformer for Online 3D Multi-Object Tracking.

Official code base of the BEVDet series .

A playground for experimenting with diffusion models 🌀

Official PyTorch implementation of FocalFormer3D [ICCV 2023]

[ECCV 2022] This is the official implementation of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.

OpenMMLab's next-generation platform for general 3D object detection.

[ECCV2022 Oral] Perspective Transformer on 3D Lane Detection

Towards Long Tailed 3D Detection. CoRL '22

[CVPR 2022] HiVT: Hierarchical Vector Transformer for Multi-Agent Motion Prediction

ESKF for Sensor Fusion. TODO: RTK and UWB integration.

PyTorch Tutorial for Deep Learning Researchers