mmkuznecov/SynthOccPredModels

SynthOccPred / voxel_car models

This repository contains two trained artifacts for the voxel_car project:

Artifact	Hub path
Occupancy predictor checkpoint	occupancy/ckpt_best.pt
PPO policy for RL planner	rl/ppo_voxel_car_final.zip

Use from Python

from voxel_car.hub import load_occnet_from_hf, load_ppo_from_hf

model, ego_cfg, cam_cfg, image_hw, device = load_occnet_from_hf(
    repo_id="mmkuznecov/SynthOccPredModels",
)

ppo = load_ppo_from_hf(
    repo_id="mmkuznecov/SynthOccPredModels",
)

Use in the Gradio demo

export VOXEL_CAR_HF_REPO="mmkuznecov/SynthOccPredModels"
python app.py

The demo can run closed-loop scenarios with either:

1. standard A* planner over OccNet occupancy predictions
2. PPO-RL planner over OccNet occupancy predictions