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1.0.7 - Lots of new features, including a standardized map format, speedups, and new functionalities!

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@BorisIvanovic BorisIvanovic released this 24 Sep 02:55
· 31 commits to main since this release

Here's a summary of the changes (in no particular order):

  • The ability to specify padding direction has been added (whether historical agent states should be padded on the left or right).
  • A standardized map format has been added and is now being used (VectorizedMap) based on protobufs for efficient storage.
    • Accordingly, map extraction functions have been added to the nuScenes and Lyft Level 5 interfaces.
  • Speedups related to data standardization in the default DataFrameCache.
  • Added timestep frequency downsampling (previously only upsampling was implemented).
  • Standardized the map handling of datasets with no maps (empty patches with a given fill value will be returned).
  • Added the ability to add extra tensors to batch elements, see examples/custom_batch_data.py for examples.
  • Allow floating point map resolutions.
  • Added scene_id to batches.
  • Added argument only_predict to UnifiedDataset which filters down the data index (i.e., which agents to predict) without also filtering agents from the scene.
  • Speedups to dataloading, owing to improvements in the UnifiedDataset's underlying data index implementation.
  • Changed nuScenes splits to better match the official splits from the dataset (closer to the prediction challenge, but not filtering all the way down to particular instance and sample tokens).
  • Added the ability to add agents on the fly during simulation.

NOTE: If upgrading from a previous version, please make sure to delete your unified data cache and recreate it using this latest version of trajdata.