air-thu / univ2x

End-to-End Autonomous Driving through V2X Cooperation

arXiv | Demo[comming soon] | Code[comming soon]

Table of Contents:

1. Highlights
2. News
3. TODO List
4. Citation

Highlights

• UniV2X is the first cooperative autonomous driving framework that seamlessly integrates all key driving modules across diverse driving views into a unified network.

News

• 2024/04/02 UniV2X paper is available on arXiv.

TODO List

• Base-model code release (on DAIR-V2X)
• Base-model configs & checkpoints (on DAIR-V2X)
• Benchmark code release (on DAIR-V2X)
• Benchmark configs & checkpoints (on DAIR-V2X)
• Support more datasets

License

All assets and code are under the Apache 2.0 license unless specified otherwise.

Citation

Please consider citing our paper if the project helps your research with the following BibTex:

@inproceedings{yu2024_univ2x,
 title={End-to-End Autonomous Driving through V2X Cooperation}, 
 author={Haibao Yu and Wenxian Yang and Jiaru Zhong and Zhenwei Yang and Siqi Fan and Ping Luo and Zaiqing Nie},
 booktitle={https://arxiv.org/abs/2404.00717},
 year={2024},
}

Related resources

• DAIR-V2X (:rocket:Ours!)
• FFNET (:rocket:Ours!)
• UniAD
• V2X-Sim

univ2x's Issues

confusing symbol in 3.3

Hi, thanks for your excellent work.
Maybe there is something wrong in page 6, 3.3 Sparse-Dense Hybrid Data Generation? In the sentense of "During transmission, we filter out low-scoring queries using boxes generated from the classification decoder, and exclusively transmit {N^inf_l} valid lane queries {Q^veh_L}". I wonder whether the symbol of lane queries should "Q^INF_L" rathan than "Q^veh_L".
Thanks a lot.

open-sourced code

Thank you for your amazing work! Could you share the specific timeline for when this project will be open-sourced?