Introducing Vectorizer + vectorized Planning Model (Urban Driver)

woven-planet / l5kit

L5Kit - https://woven.toyota

https://woven-planet.github.io/l5kit

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Closed oliver-scheel closed 2 years ago

oliver-scheel commented 2 years ago

Add implementation from Urban Driver including:

new EgoDatasetVectorized with data pipeline to get vectorized input representation;
Urban Driver model definition (both final model and ablations);
Training and evaluation notebooks for Urban Driver;
Pre-trained models (both final model and ablations)