https://github.com/NVlabs/OmniDrive

https://github.com/NVlabs/OmniDrive

Last synced: about 2 months ago
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• Host: GitHub
• URL: https://github.com/NVlabs/OmniDrive
• Owner: NVlabs
• Created: 2024-05-01T08:48:21.000Z (8 months ago)
• Default Branch: main
• Last Pushed: 2024-07-28T01:02:52.000Z (5 months ago)
• Last Synced: 2024-08-01T03:33:17.341Z (4 months ago)
• Language: Python
• Size: 356 KB
• Stars: 164
• Watchers: 16
• Forks: 4
• Open Issues: 3
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

• Awesome-LLM4AD - OmniDrive

README

        

# OmniDrive: LLM-Agent for Autonomous Driving with 3D Perception, Reasoning and Planning

https://github.com/NVlabs/OmniDrive/assets/74858581/f64987a0-b890-416d-90c1-e0daaeb542d6

We present OmniDrive, a holistic Drive LLM-Agent framework for end-to-end autonomous driving. Our main contributions involve novel solutions in both model (OmniDrive-Agent) and benchmark (OmniDrive-nuScenes). The former features a novel 3D multimodal LLM design that uses sparse queries to lift and compress visual representations into 3D. The latter is constituted of comprehensive VQA tasks for reasoning and planning, including scene description, traffic regulation, 3D grounding, counterfactual reasoning, decision making and planning.







## News

- `[2024/07/18]` OmniDrive-nuScenes model release.

- `[2024/05/02]` OmniDrive-nuScenes dataset release.

- `[2024/05/02]` [ArXiv](https://arxiv.org/abs/2405.01533) technical report release.

## Getting Started

Please follow our documentation step by step. If you like our work, please recommend it to your colleagues and friends.

1. [**Environment Setup.**](./docs/setup.md)

## Currently Supported Features

- [x] OmnDrive Training Framework

- [x] OmnDrive Dataset

- [ ] OmnDrive Checkpoint

- [x] Evaluation

- [x] Data Generation

- [ ] TensorRT Inference

- [ ] DeepSpeed

- [ ] Tiny LLM

## Visual Results

Joint End-to-end Planning and Reasoning












Interactive Conversation with Ego Vehicle










Counterfactual Reasoning of Planning Behaviors









## Citation

If this work is helpful for your research, please consider citing:

```

@article{wang2024omnidrive,

  title={{OmniDrive}: A Holistic LLM-Agent Framework for Autonomous Driving with 3D Perception, Reasoning and Planning},

  author={Shihao Wang and Zhiding Yu and Xiaohui Jiang and Shiyi Lan and Min Shi and Nadine Chang and Jan Kautz and Ying Li and Jose M. Alvarez},

  journal={arXiv:2405.01533},

  year={2024}

}

```