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Data Files and Pretrained Models

1. Download nuScenes

Download the nuScenes dataset, soft-link it to ./data/nuscenes. This step is compulsory.

2. Download Preprocessed nuScenes Files [Here]

The generation of preprocessed nuScenes files can be found in PF-Track.

3. Download NuPrompt Dataset [Here]

Each json file comprises four parts:

{
    'scene_token':                                                    <str> -- unique identifier of a scene
    'prompt':                                                               <str> -- language prompt
    'frame_token_object_token':{
        'frame_token_1':[                                          <str> -- unique identifier of a frame
            'instance_token_1',                                  <str> -- unique identifier of an object
            'instance_token_2',         
            ...
        ]        
        'frame_token_2':[               
            'instance_token_1',         
            'instance_token_3',         
            ...
        ]            
        ...
    }
    'original_prompt':                                               <str> -- original language prompt
},

4. Download Preprocessed NuPrompt Val Files [Here] [Here]

Different from the original nuScenes dataset that inference each scene once, NuPrompt dataset requires testing each prompt, which is time-consuming. To save time, please download the preprocessed val file nuprompt_infos_val.pkl. It contains two random prompts for each scene in the validation set, and the corresponding generation script can be found in ./tools/create_nuprompt_infos_val.py. Besides, the other file instance_token_to_id_map.pkl should be downloaded for easy validation.

After doing so, the structure of that directory will be:

- nuscenes
    - v1.0-mini
    - v1.0-test
    - v1.0-trainval
    ...
    - tracking_forecasting_infos_test.pkl
    - tracking_forecasting_infos_train.pkl
    - tracking_forecasting_infos_val.pkl
    - tracking_forecasting-mini_infos_train.pkl
    - tracking_forecasting-mini_infos_val.pkl
    ...
    - nuprompt_v1.0
    - nuprompt_infos_val.pkl
    - instance_token_to_id_map.pkl

5. Download Single-frame Detection Model [Here]

After downloading, please extract them to ./ckpts/ of the root directory of this repository. The single-frame detectors is provided from the first stage of training PF-Track. Downloading them will save the effort in training single-frame detectors for reproducing our results.