StandardE2E: A Unified Framework for End-to-End Autonomous Driving Datasets
Quick Take
StandardE2E is a unified framework that standardizes preprocessing for end-to-end autonomous driving datasets, supporting six datasets including Waymo and Argoverse. It simplifies cross-dataset experimentation and integrates multiple datasets into a single PyTorch DataLoader, enhancing the efficiency of autonomous driving model development.
Key Points
- StandardE2E standardizes preprocessing under a shared data schema for E2E datasets.
- It combines multiple datasets for cross-dataset pretraining and scenario-level filtering.
- The framework supports six datasets including Waymo End-to-End and NAVSIM.
- New datasets can be added with minimal changes to the existing pipeline.
- StandardE2E is available as an open-source Python package.
Article Content
From source RSS / original summaryarXiv:2606. 04271v1 Announce Type: new Abstract: Autonomous driving has shifted from modular perception-prediction-planning stacks toward end-to-end (E2E) models that map sensor inputs directly to vehicle control, often regularized by auxiliary tasks such as 3D detection, motion forecasting, and HD-map perception.
Progress is driven by a fast-growing ecosystem of sensor-rich driving datasets, yet each ships its own file formats, APIs, coordinate conventions, and modality coverage, leaving cross-dataset experimentation and even basic per-dataset preprocessing to be re-implemented per project. We present StandardE2E, a framework that provides a single unified interface over E2E driving datasets.
StandardE2E (i) standardizes per-dataset preprocessing under one shared data schema; (ii) combines multiple datasets in a single PyTorch DataLoader for cross-dataset pretraining, auxiliary-task supervision, and scenario-level filtering; and (iii) reduces adding a new dataset to a single per-dataset mapping from raw frames to the canonical schema, leaving the entire downstream pipeline unchanged.
The framework supports six datasets out of the box: Waymo End-to-End, Waymo Perception, Argoverse 2 Sensor, Argoverse 2 LiDAR, NAVSIM (OpenScene-v1. 1), and WayveScenes101, and is released as the open-source standard-e2e Python package, available at https://github. com/stepankonev/StandardE2E.
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