NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking
Daniel Dauner1,2, Marcel Hallgarten1,5, Tianyu Li3, Xinshuo Weng4, Zhiyu Huang4,6, Zetong Yang3
Hongyang Li3, Igor Gilitschenski7,8, Boris Ivanovic4, Marco Pavone4,9, Andreas Geiger1,2, and Kashyap Chitta1,21University of Tübingen, 2Tübingen AI Center, 3OpenDriveLab at Shanghai AI Lab, 4NVIDIA Research
5Robert Bosch GmbH, 6Nanyang Technological University, 7University of Toronto, 8Vector Institute, 9Stanford UniversityAdvances in Neural Information Processing Systems (NeurIPS), 2024
Track on Datasets and Benchmarks
NAVSIM gathers simulation-based metrics (such as progress and time to collision) for end-to-end driving by unrolling simplified bird's eye view abstractions of scenes for a short simulation horizon. It operates under the condition that the policy has no influence on the environment, which enables efficient, open-loop metric computation while being better aligned with closed-loop evaluations than traditional displacement errors.
Highlights
Getting started
Changelog
License and citation
Other resources
Download and installation
Understanding and creating agents
Understanding the data format and classes
Dataset splits vs. filtered training / test splits
Understanding the PDM Score
Submitting to the Leaderboard
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[2024/09/03]
NAVSIM v1.1 release
Leaderboard for navtest
on Hugging Face
Release of baseline checkpoints on Hugging Face
Updated docs for submission and paper
Code refactoring, formatting, minor fixes
[2024/04/21]
NAVSIM v1.0 release (official devkit version for AGC 2024)
Parallelization of metric caching / evaluation
Adds Transfuser baseline (see agents)
Adds standardized training and test filtered splits (see splits)
Visualization tools (see tutorial_visualization.ipynb)
[2024/04/03]
NAVSIM v0.4 release
Support for test phase frames of competition
Download script for trainval
Egostatus MLP Agent and training pipeline
[2024/03/25]
NAVSIM v0.3 release (official devkit version for warm-up phase)
Adds code for Leaderboard submission
[2024/03/11]
NAVSIM v0.2 release
Easier installation and download
mini and test data split integration
Privileged Human
agent
[2024/02/20]
NAVSIM v0.1 release (initial demo)
OpenScene-mini sensor blobs and annotation logs
Naive ConstantVelocity
agent
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All assets and code in this repository are under the Apache 2.0 license unless specified otherwise. The datasets (including nuPlan and OpenScene) inherit their own distribution licenses. Please consider citing our paper and project if they help your research.
@inproceedings{Dauner2024NEURIPS, author = {Daniel Dauner and Marcel Hallgarten and Tianyu Li and Xinshuo Weng and Zhiyu Huang and Zetong Yang and Hongyang Li and Igor Gilitschenski and Boris Ivanovic and Marco Pavone and Andreas Geiger and Kashyap Chitta}, title = {NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking}, booktitle = {Advances in Neural Information Processing Systems (NeurIPS)}, year = {2024}, }
@misc{Contributors2024navsim,title={NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking},author={NAVSIM Contributors},howpublished={url{https://github.com/autonomousvision/navsim}},year={2024}}
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SLEDGE | tuPlan garage | CARLA garage | Survey on E2EAD
PlanT | KING | TransFuser | NEAT
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