Add/update vad-autoware

vad-autoware/deploy_metadata.yaml

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+version: v0.1

vad-autoware/meta.json

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+{
+  "name": "vad-autoware",
+  "source": "AutowareFoundation/tensorrt_vad",
+  "method": "prebuilt",
+  "note": "CARLA-trained VAD, not the nuScenes original",
+  "revision": "1539e852f94d7a9afdc32b90cf65149fd0b429aa",
+  "validation": "prebuilt, not re-validated",
+  "opset_requested": 17,
+  "files": {
+    "vad-carla-tiny_backbone.onnx": {
+      "sha256": "04b925f2750fd1c4adf16b5aae9c149d0baa39185e99d141232ebe20bddba4da",
+      "bytes": 98422204,
+      "inputs": {
+        "img": [
+          6,
+          3,
+          384,
+          640
+        ]
+      },
+      "outputs": {
+        "out.0": [
+          6,
+          1,
+          256,
+          12,
+          20
+        ]
+      },
+      "opset": 15
+    },
+    "vad-carla-tiny_head.onnx": {
+      "sha256": "31f49a592a764ce82bbe6e26d0bfc99dc8a9613628884dc73dd5e67521ff3e9e",
+      "bytes": 149881872,
+      "inputs": {
+        "mlvl_feats.0": [
+          1,
+          6,
+          256,
+          12,
+          20
+        ],
+        "img_metas.0[shift]": [
+          1,
+          2
+        ],
+        "img_metas.0[lidar2img]": [
+          6,
+          4,
+          4
+        ],
+        "img_metas.0[can_bus]": [
+          1,
+          18
+        ],
+        "prev_bev": [
+          21200,
+          1,
+          256
+        ]
+      },
+      "outputs": {
+        "out.bev_embed": [
+          21200,
+          1,
+          256
+        ],
+        "out.all_cls_scores": [
+          3,
+          1,
+          300,
+          9
+        ],
+        "out.all_bbox_preds": [
+          3,
+          1,
+          300,
+          10
+        ],
+        "out.all_traj_preds": [
+          3,
+          1,
+          300,
+          6,
+          12
+        ],
+        "out.all_traj_cls_scores": [
+          3,
+          1,
+          300,
+          6
+        ],
+        "out.map_all_cls_scores": [
+          3,
+          1,
+          100,
+          6
+        ],
+        "out.map_all_bbox_preds": [
+          3,
+          1,
+          100,
+          4
+        ],
+        "out.map_all_pts_preds": [
+          3,
+          1,
+          100,
+          20,
+          2
+        ],
+        "out.ego_fut_preds": [
+          1,
+          6,
+          6,
+          2
+        ]
+      },
+      "opset": 15
+    },
+    "vad-carla-tiny_head_no_prev.onnx": {
+      "sha256": "6a89d479e0717b1e526f1aa3a1137c631a9ef854e810d0328a035aae11818c2a",
+      "bytes": 149883556,
+      "inputs": {
+        "mlvl_feats.0": [
+          1,
+          6,
+          256,
+          12,
+          20
+        ],
+        "img_metas.0[shift]": [
+          1,
+          2
+        ],
+        "img_metas.0[lidar2img]": [
+          6,
+          4,
+          4
+        ],
+        "img_metas.0[can_bus]": [
+          1,
+          18
+        ]
+      },
+      "outputs": {
+        "out.bev_embed": [
+          21200,
+          1,
+          256
+        ],
+        "out.all_cls_scores": [
+          3,
+          1,
+          300,
+          9
+        ],
+        "out.all_bbox_preds": [
+          3,
+          1,
+          300,
+          10
+        ],
+        "out.all_traj_preds": [
+          3,
+          1,
+          300,
+          6,
+          12
+        ],
+        "out.all_traj_cls_scores": [
+          3,
+          1,
+          300,
+          6
+        ],
+        "out.map_all_cls_scores": [
+          3,
+          1,
+          100,
+          6
+        ],
+        "out.map_all_bbox_preds": [
+          3,
+          1,
+          100,
+          4
+        ],
+        "out.map_all_pts_preds": [
+          3,
+          1,
+          100,
+          20,
+          2
+        ],
+        "out.ego_fut_preds": [
+          1,
+          6,
+          6,
+          2
+        ]
+      },
+      "opset": 15
+    }
+  },
+  "exported_at": "2026-10-19T18:45:49.219773+00:00"
+}

vad-autoware/vad-carla-tiny.param.json

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+{
+  "major_version": 0,
+  "minor_version": 1,
+  "model_name": "vad-carla-tiny",
+  "training_dataset": "Bench2Drive CARLA",
+  "release_date": "2025-11-04",
+  "description": "VAD model trained on Bench2Drive CARLA dataset with 6-camera surround view",
+
+  "image_normalization": {
+    "mean": [123.675, 116.28, 103.53],
+    "std": [58.395, 57.12, 57.375],
+    "format": "RGB",
+    "note": "ImageNet normalization statistics"
+  },
+
+  "input_specs": {
+    "target_image_width": 640,
+    "target_image_height": 384,
+    "num_cameras": 6,
+    "camera_order": ["FRONT", "BACK", "FRONT_LEFT", "BACK_LEFT", "FRONT_RIGHT", "BACK_RIGHT"]
+  },
+
+  "class_definitions": {
+    "map_classes": ["Broken", "Solid", "SolidSolid", "Center", "TrafficLight", "StopSign"],
+    "object_classes": ["car", "van", "truck", "bicycle", "traffic_sign", "traffic_cone", "traffic_light", "pedestrian", "others"]
+  },
+
+  "network_architecture": {
+    "bev": {
+      "height": 106,
+      "width": 200,
+      "feature_dim": 256,
+      "downsample_factor": 32
+    },
+    "transformer": {
+      "num_decoder_layers": 3
+    },
+    "prediction": {
+      "num_queries": 300,
+      "num_classes": 9,
+      "bbox_pred_dim": 10,
+      "trajectory_modes": 6,
+      "timesteps": 6,
+      "bbox_format": "[cx, cy, w, l, cz, h, sin, cos, vx, vy]"
+    },
+    "planning": {
+      "ego_commands": 6,
+      "timesteps": 6
+    },
+    "map": {
+      "num_queries": 100,
+      "num_classes": 6,
+      "points_per_polyline": 20
+    },
+    "vehicle_state": {
+      "can_bus_dim": 18
+    }
+  },
+
+  "model_files": {
+    "backbone": "vad-carla-tiny_backbone.onnx",
+    "head": "vad-carla-tiny_head.onnx",
+    "head_no_prev": "vad-carla-tiny_head_no_prev.onnx"
+  },
+
+  "compatibility": {
+    "autoware_tensorrt_vad_version": ">= 0.1.0",
+    "tensorrt_version": ">= 8.6",
+    "cuda_version": ">= 11.4"
+  }
+}

vad-autoware/vad-carla-tiny_backbone.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04b925f2750fd1c4adf16b5aae9c149d0baa39185e99d141232ebe20bddba4da
+size 98422204

vad-autoware/vad-carla-tiny_head.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f49a592a764ce82bbe6e26d0bfc99dc8a9613628884dc73dd5e67521ff3e9e
+size 149881872

vad-autoware/vad-carla-tiny_head_no_prev.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a89d479e0717b1e526f1aa3a1137c631a9ef854e810d0328a035aae11818c2a
+size 149883556