This repo is the implementation of the following paper:

Hybrid Prediction Integrated Planning for Autonomous Driving
Haochen Liu, Zhiyu Huang, Wenhui Huang, Haohan Yang, Xiaoyu Mo, Chen Lv
AutoMan Research Lab, Nanyang Technological University
[Arxiv] [Project Website]

General Info

• 2024.06: Our variant implementations of HPP , which is named by DOPP, has won the champion for 2024 Waymo Occupancy and Flow Prediction Challenge:

  🥇 2024 Waymo Occupancy and Flow Prediction

  🚗 CVPR2024 Workshop on Autonomous Driving website

  📄 Check out the Technical Report here

• 2024.02: Our implementation has achieved SOTA performance on multiple benchmarks, showcasing consistent modular co-design and optimization;

https://github.com/georgeliu233/HPP/assets/46886579/55ed43b6-1e73-45a1-8180-b371c0666e44

Get Started

1.Codes

Follow the regular UniAD / VAD pipeline for model training / evaluation.

2.Downloads

You may download model weights from here: model weights

Useful Resources

Official release for our previous work:

-DIPP 🔥

-GameFormer 🚀

-STrajNet 🚀

-OPGP 🚀

Acknowledgement

We also acknowledge the immense assistance and proofread from Li Chen @OpenDriveLab and the open-source repo:

-UniAD 🔥

-ST-P3 🚀