ADRLAB/odyssey-models

Odyssey Models

Checkpoints of the end-to-end driving planners evaluated in the Odyssey closed-loop benchmark.

• Five planners are included: LTF, DrivoR, DiffusionDrive, SafeDrive and ReCogDrive.
• Each comes in two versions:
  • baseline: the upstream model. It takes NAVSIM's driving_command and has no route.
  • sdroute: driving_command is removed, and a standard-definition (SD) route becomes the only navigation signal.
• The code that loads and runs these checkpoints is OdysseyZoo. A link will be added here once it is public.
• The closed-loop scenes are in ADRLAB/odyssey-scenes.
• The simulator's image restorer (Fixer, fine-tuned from NVIDIA Fixer) is in fixer/. See Fixer.

Checkpoints

Paths match the OdysseyZoo tree, so the files land in place when you download into an OdysseyZoo checkout.

File	Model	Version	Origin	License
third_party/navsim/ckpts/ltf_baseline.ckpt	LTF	baseline	NAVSIM release: autonomousvision/navsim_baselines ltf/ltf_seed_0.ckpt	Apache-2.0
third_party/navsim/ckpts/ltf_sdroute.ckpt	LTF	sdroute	trained by us	CC BY-NC-SA 4.0
third_party/DrivoR/ckpts/drivor_baseline.ckpt	DrivoR	baseline	DrivoR authors' release (GitHub Releases, navtrain only, 25 epochs)	Apache-2.0
third_party/DrivoR/ckpts/drivor_sdroute.ckpt	DrivoR	sdroute	trained by us	CC BY-NC-SA 4.0
third_party/DiffusionDrive/ckpts/diffusiondrive_baseline.ckpt	DiffusionDrive	baseline	trained by us with the upstream recipe	CC BY-NC-SA 4.0
third_party/DiffusionDrive/ckpts/diffusiondrive_sdroute.ckpt	DiffusionDrive	sdroute	trained by us	CC BY-NC-SA 4.0
third_party/SafeDrive/ckpts/safedrive_baseline.ckpt	SafeDrive	baseline (camera-only, with pedestrian detection)	trained by us	CC BY-NC-SA 4.0
third_party/SafeDrive/ckpts/safedrive_sdroute.ckpt	SafeDrive	sdroute	trained by us	CC BY-NC-SA 4.0
third_party/recogdrive/ckpts/recogdrive_baseline.ckpt	ReCogDrive	baseline	ReCogDrive release: owl10/ReCogDrive-2B-RL	Apache-2.0
third_party/recogdrive/ckpts/recogdrive_sdroute.ckpt	ReCogDrive	sdroute (imitation learning + GRPO)	trained by us	CC BY-NC-SA 4.0
third_party/recogdrive/ckpts/recogdrive_sdroute_il.ckpt	ReCogDrive	sdroute, imitation learning only (before GRPO)	trained by us	CC BY-NC-SA 4.0
third_party/recogdrive/ckpts/ReCogDrive-VLM-2B/	ReCogDrive	VLM used by all three ReCogDrive checkpoints	ReCogDrive release: owl10/ReCogDrive-VLM-2B, unmodified	Apache-2.0

• Every planner checkpoint was trained on NAVSIM navtrain.
• ReCogDrive sdroute gets the route twice: as a status token in the planner, and as the navigation line of the VLM prompt.
• .ckpt contents: each .ckpt keeps only state_dict, pytorch-lightning_version, epoch and global_step.
  • Optimizer, scheduler and callback states were dropped, so a file is about a third of a full Lightning checkpoint. This means they cannot resume training.
  • For the three upstream checkpoints, every tensor is identical to the original release.
• ReCogDrive-VLM-2B/: every file is byte-identical to owl10/ReCogDrive-VLM-2B.
• SHA256SUMS lists the checksum of every planner file. The Fixer files are listed in fixer/models/SHA256SUMS.

Download

# all checkpoints, into an OdysseyZoo checkout
hf download ADRLAB/odyssey-models --include "third_party/*" --local-dir OdysseyZoo

# verify
hf download ADRLAB/odyssey-models SHA256SUMS --local-dir .
(cd OdysseyZoo && sha256sum -c ../SHA256SUMS)

--include "third_party/*" keeps this repo's README.md from overwriting OdysseyZoo's.

Also needed, from its own repo:

For	Download into	Command
DrivoR (both checkpoints)	third_party/DrivoR/weights/vit_small_patch14_reg4_dinov2.lvd142m/	hf download timm/vit_small_patch14_reg4_dinov2.lvd142m --local-dir OdysseyZoo/third_party/DrivoR/weights/vit_small_patch14_reg4_dinov2.lvd142m

• LTF, DiffusionDrive and SafeDrive fetch timm/resnet34.a1_in1k from the Hugging Face Hub when the model is built. On an offline machine, have it in the local HF cache.
• The DINOv2 and ResNet-34 weights are only initial values. The checkpoints overwrite them.

Fixer

The Odyssey simulator restores every rendered camera image with Fixer before the planner sees it.

File	Origin	License
fixer/models/finetuned/h1_b16_e1_model_11001.pkl	fine-tuned by us from NVIDIA Fixer pretrained/pretrained_fixer.pkl	NVIDIA Open Model License
fixer/models/NOTICE, fixer/models/LICENSE-NVIDIA-Open-Model-License.txt	the notice and the license that come with it	—

• Fixer also needs two base files, base/model_fast_tokenizer.pt and base/tokenizer_fast.pth. They are not copied here: download them unchanged from nvidia/Fixer. The simulator uses exactly those files; their checksums are in fixer/models/SHA256SUMS.
• Built on NVIDIA Cosmos.

# into the Odyssey simulator checkout: fixer/models/...
hf download ADRLAB/odyssey-models --include "fixer/*" --local-dir .
hf download nvidia/Fixer --include "base/*" --local-dir fixer/models

# verify
(cd fixer/models && sha256sum -c SHA256SUMS)

License

• Checkpoints trained by us: CC BY-NC-SA 4.0.
  • They were trained on NAVSIM/OpenScene data derived from nuPlan, so the nuPlan terms of use also apply.
  • Non-commercial use only.
• Fixer weights (fixer/models/finetuned/h1_b16_e1_model_11001.pkl):
  • A Derivative Model of NVIDIA Fixer, distributed under the NVIDIA Open Model License. A copy of the license and the notice are in fixer/models/.
  • Licensed by NVIDIA Corporation under the NVIDIA Open Model License.
  • Built on NVIDIA Cosmos.
• Upstream files (ltf_baseline, drivor_baseline, recogdrive_baseline, ReCogDrive-VLM-2B/):
  • Redistributed under their original Apache-2.0 license.
  • The three checkpoints were modified only by dropping the training state, as described above. The VLM is unmodified.
  • Origins are listed in the table.

Citation

Please cite the upstream works of the models you use:

• NAVSIM, which also provides LTF
• DrivoR
• DiffusionDrive
• SafeDrive
• ReCogDrive
• NVIDIA Fixer, for the image restorer