{"id":20731449,"url":"https://github.com/opendrivelab/betop","last_synced_at":"2025-04-06T04:06:54.977Z","repository":{"id":262413210,"uuid":"779928393","full_name":"OpenDriveLab/BeTop","owner":"OpenDriveLab","description":"[NeurIPS 2024] Behavioral Topology (BeTop), a multi-agent behavior formulation for interactive motion prediction and planning","archived":false,"fork":false,"pushed_at":"2024-11-12T09:25:41.000Z","size":678,"stargazers_count":115,"open_issues_count":0,"forks_count":7,"subscribers_count":7,"default_branch":"main","last_synced_at":"2025-04-06T03:38:45.297Z","etag":null,"topics":["autonomous-driving","motion-planning","motion-prediction"],"latest_commit_sha":null,"homepage":"https://arxiv.org/abs/2409.18031","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/OpenDriveLab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":".github/FUNDING.yml","license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null},"funding":{"github":["OpenDriveLab"],"patreon":null,"open_collective":null,"ko_fi":null,"tidelift":null,"community_bridge":null,"liberapay":null,"issuehunt":null,"otechie":null,"lfx_crowdfunding":null,"custom":null}},"created_at":"2024-03-31T07:17:41.000Z","updated_at":"2025-04-04T03:34:25.000Z","dependencies_parsed_at":"2024-11-12T10:34:41.188Z","dependency_job_id":null,"html_url":"https://github.com/OpenDriveLab/BeTop","commit_stats":null,"previous_names":["opendrivelab/betop"],"tags_count":2,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FBeTop","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FBeTop/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FBeTop/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FBeTop/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/OpenDriveLab","download_url":"https://codeload.github.com/OpenDriveLab/BeTop/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247430864,"owners_count":20937874,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["autonomous-driving","motion-planning","motion-prediction"],"created_at":"2024-11-17T05:14:52.930Z","updated_at":"2025-04-06T04:06:54.914Z","avatar_url":"https://github.com/OpenDriveLab.png","language":"Python","funding_links":["https://github.com/sponsors/OpenDriveLab"],"categories":[],"sub_categories":[],"readme":"\u003ch1 align=\"center\"\u003e BeTop: Reasoning Multi-Agent Behavioral Topology \nfor Interactive Autonomous Driving \u003c/h1\u003e \n\n\u003cdiv align=\"center\"\u003e\n \n[![arXiv](https://img.shields.io/badge/arXiv-2409.18031-479ee2.svg)](https://arxiv.org/abs/2409.18031)\n\n\u003c/div\u003e\n\n\u003cdiv id=\"top\" align=\"center\"\u003e\n\u003cp align=\"center\"\u003e\n\u003cimg src=\"assets/betop_teaser.png\" width=\"1000px\" \u003e\n\u003c/p\u003e\n\u003c/div\u003e\n\n\u003e - [Haochen Liu](https://scholar.google.com/citations?user=iizqKUsAAAAJ\u0026hl), [Li Chen](https://scholar.google.com/citations?user=ulZxvY0AAAAJ\u0026hl=zh-CN), Yu Qiao, Chen Lv and Hongyang Li  \n\u003e - [arXiv paper](https://arxiv.org/abs/2409.18031) | Slides TODO  \n\u003e - If you have any questions, please feel free to contact: *Haochen Liu* ( haochen002@e.ntu.edu.sg )\n\n\u003c!-- \u003e 📜 Preprint: \u003ca href=\"https://arxiv.org/abs/2409.09016\"\u003e\u003cimg src=\"https://img.shields.io/badge/arXiv-Paper-\u003ccolor\u003e\"\u003e\u003c/a\u003e --\u003e\n\n---\n\n**[2024-11]** Scenario Token released for ```Test14-Inter```. [Link](https://github.com/OpenDriveLab/BeTop/releases/download/nuplan/test14-inter.yaml)\n\n**[2024-11]** Prediction project released.\n\nFull code and checkpoints release is coming soon. Please stay tuned.\n\n## Overview\n\n**BeTop**  leverages braid theory to model multi-agent future behaviors in autonomous driving;\n\n\u003cdiv id=\"top\" align=\"center\"\u003e\n\u003cp align=\"center\"\u003e\n\u003cimg src=\"assets/betop.png\" width=\"1000px\" \u003e\n\u003c/p\u003e\n\u003c/div\u003e\n\nThe synergetic framework, *BeTopNet*, integrates topology reasoning with prediction and planning tasks for autonomous driving.\n\n\u003cdiv id=\"top\" align=\"center\"\u003e\n\u003cp align=\"center\"\u003e\n\u003cimg src=\"assets/betopnet.png\" width=\"1000px\" \u003e\n\u003c/p\u003e\n\u003c/div\u003e\n\n## Get Started\n\n### Prediction\n\nWe provide the full prediction implementation of BeTopNet in Waymo Open Motion Dataset (WOMD).\n\n**Features:**\n- :white_check_mark: Full support for WOMD Prediction Challenges  \n- :white_check_mark: Flexible Toolbox for prediction tasks  \n- :white_check_mark: Pipeline for reproduced popular Baselines\n\n**[Guideline](womd/README.md)**\n   - [Data Preparation](/docs/womd/DataPrep_pred.md)\n   - [Training \u0026 Evaluation](/docs//womd/TrainEval_pred.md)\n   - [Testing \u0026 Submission](/docs//womd/Submission_pred.md)\n\n## TODO List\n\n- [x] Initial release\n- [x] Prediction pipeline in WOMD\n- [ ] Planning pipeline in nuPlan\n\n## Citation\n\nIf you find the project helpful for your research, please consider citing our paper:\n\n```bibtex\n@inproceedings{liu2024betop,\n title={Reasoning Multi-Agent Behavioral Topology for Interactive Autonomous Driving}, \n author={Haochen Liu and Li Chen and Yu Qiao and Chen Lv and Hongyang Li},\n booktitle={NeurIPS},\n year={2024}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fopendrivelab%2Fbetop","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fopendrivelab%2Fbetop","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fopendrivelab%2Fbetop/lists"}