Machine learning models

The Autoware perception stack uses models for inference. These models are automatically downloaded as part of the setup-dev-env.sh script.

The models are hosted by Web.Auto.

Default models directory (data_dir) is ~/autoware_data.

Download instructions

Please follow the download instruction in autoware download instructions 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

The example of downloading lidar_centerpoint model:

# lidar_centerpoint

$ mkdir -p ~/autoware_data/lidar_centerpoint/
$ 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 \
       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