diff --git a/docs/models/index.md b/docs/models/index.md index e47b73d83cf..fa4551d312b 100644 --- a/docs/models/index.md +++ b/docs/models/index.md @@ -1,40 +1,20 @@ # Machine learning models -The Autoware perception stack uses models for inference. These models are automatically downloaded if using `ansible`, but they can also be downloaded manually. +The Autoware perception stack uses models for inference. These models are automatically downloaded as part of the `setup-dev-env.sh` script. -## ONNX model files +The models are hosted by Web.Auto. -### Download instructions +Default models directory (`data_dir`) is `~/autoware_data`. -The ONNX model files are stored in a common location, hosted by Web.Auto +## Download instructions -Any tool that can download files from the web (e.g. `wget` or `curl`) is the only requirement for downloading these files: - -```console -# yabloc_pose_initializer - -$ mkdir -p ~/autoware_data/yabloc_pose_initializer/ -$ wget -P ~/autoware_data/yabloc_pose_initializer/ \ - https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz - - -# image_projection_based_fusion - -$ mkdir -p ~/autoware_data/image_projection_based_fusion/ -$ wget -P ~/autoware_data/image_projection_based_fusion/ \ - https://awf.ml.dev.web.auto/perception/models/pointpainting/v4/pts_voxel_encoder_pointpainting.onnx \ - https://awf.ml.dev.web.auto/perception/models/pointpainting/v4/pts_backbone_neck_head_pointpainting.onnx +Please follow the download instruction in [autoware download instructions](https://github.com/autowarefoundation/autoware/blob/main/ansible/roles/artifacts/README.md#L15) for updated models downloading. +The models can be also downloaded manually using download tools such as `wget` or `curl`. The latest urls of weight files and param files for each model can be found at [autoware main.yaml file](https://github.com/autowarefoundation/autoware/blob/main/ansible/roles/artifacts/tasks/main.yaml) -# lidar_apollo_instance_segmentation - -$ mkdir -p ~/autoware_data/lidar_apollo_instance_segmentation/ -$ wget -P ~/autoware_data/lidar_apollo_instance_segmentation/ \ - https://awf.ml.dev.web.auto/perception/models/lidar_apollo_instance_segmentation/vlp-16.onnx \ - https://awf.ml.dev.web.auto/perception/models/lidar_apollo_instance_segmentation/hdl-64.onnx \ - https://awf.ml.dev.web.auto/perception/models/lidar_apollo_instance_segmentation/vls-128.onnx - +The example of downloading `lidar_centerpoint` model: +```console # lidar_centerpoint $ mkdir -p ~/autoware_data/lidar_centerpoint/ @@ -42,62 +22,10 @@ $ wget -P ~/autoware_data/lidar_centerpoint/ \ https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint.onnx \ https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint.onnx \ https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint_tiny.onnx \ - https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint_tiny.onnx - - -# tensorrt_yolo - -$ mkdir -p ~/autoware_data/tensorrt_yolo/ -$ wget -P ~/autoware_data/tensorrt_yolo/ \ - https://awf.ml.dev.web.auto/perception/models/yolov3.onnx \ - https://awf.ml.dev.web.auto/perception/models/yolov4.onnx \ - https://awf.ml.dev.web.auto/perception/models/yolov4-tiny.onnx \ - https://awf.ml.dev.web.auto/perception/models/yolov5s.onnx \ - https://awf.ml.dev.web.auto/perception/models/yolov5m.onnx \ - https://awf.ml.dev.web.auto/perception/models/yolov5l.onnx \ - https://awf.ml.dev.web.auto/perception/models/yolov5x.onnx \ - https://awf.ml.dev.web.auto/perception/models/coco.names - - -# tensorrt_yolox - -$ mkdir -p ~/autoware_data/tensorrt_yolox/ -$ wget -P ~/autoware_data/tensorrt_yolox/ \ - https://awf.ml.dev.web.auto/perception/models/yolox-tiny.onnx \ - https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.onnx \ - https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.EntropyV2-calibration.table \ - https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.onnx \ - https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table \ - https://awf.ml.dev.web.auto/perception/models/label.txt - - -# traffic_light_classifier - -$ mkdir -p ~/autoware_data/traffic_light_classifier/ -$ wget -P ~/autoware_data/traffic_light_classifier/ \ - https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_1.onnx \ - https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_4.onnx \ - https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_6.onnx \ - https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_1.onnx \ - https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_4.onnx \ - https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_6.onnx \ - https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/lamp_labels.txt - - -# traffic_light_fine_detector - -$ mkdir -p ~/autoware_data/traffic_light_fine_detector/ -$ wget -P ~/autoware_data/traffic_light_fine_detector/ \ - https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v2/tlr_yolox_s_batch_1.onnx \ - https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v2/tlr_yolox_s_batch_4.onnx \ - https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v2/tlr_yolox_s_batch_6.onnx \ - https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v2/tlr_labels.txt - - -# traffic_light_ssd_fine_detector - -$ mkdir -p ~/autoware_data/traffic_light_ssd_fine_detector/ -$ wget -P ~/autoware_data/traffic_light_ssd_fine_detector/ \ - https://awf.ml.dev.web.auto/perception/models/mb2-ssd-lite-tlr.onnx \ - https://awf.ml.dev.web.auto/perception/models/voc_labels_tl.txt + https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint_tiny.onnx \ + https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_ml_package.param.yaml \ + https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_tiny_ml_package.param.yaml \ + https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_sigma_ml_package.param.yaml \ + https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/detection_class_remapper.param.yaml \ + https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/deploy_metadata.yaml ```