QCNet Trajectory Prediction Model Training - Horizon OpenExplorer

Horizon Smart Car Developer Community

Horizon Official Website

English

Horizon Smart Car Developer Community

Horizon Official Website

English

OE Document Introduction

Product Introduction

OpenExplorer Introduction

Toolchain Overview

Environment Deployment

Quick Start

PTQ and QAT Introduction

Algorithm Model PTQ + On-board Deployment Quick Start

Algorithm Model QAT + Deployment Quick Start

Post-training Quantization (PTQ)

PTQ Conversion Principle and Process

PTQ Conversion Tools

PTQ Conversion Tool Overview

The hb_compile Tool

Model Quantized Compilation

Model Modification and HBIR Model Compilation

The hb_model_info Tool

The hb_verifier Tool

The hb_eval_preprocess Tool

The hb_config_generator Tool

The HBRuntime Inference Library

Accuracy Debug Tool

PTQ Conversion Steps

Prepare Floating-point Model

Prepare Calibration Data

Model Quantization and Compilation

Model Performance Analysis

Model Accuracy Analysis

PTQ Conversion Samples

Release Introduction

Common Algorithm Model Samples

FAQ and Common Failure Resolutions

Post-training Quantization (PTQ) FAQ

Common Failure Resolutions

Appendix

Configuration of norm_type

Image Processing Transformer

Quantized Awareness Training (QAT)

Environmental Dependence

Tutorial

Floating-point Model Requirements

QConfig in Detail

Prepare in Detail

Calibration Tutorial

Quantized Awareness Training Guide

Accuracy Tuning Tool Guide

Quantization Accuracy Tuning Guide

Common Usage Mistakes

Advanced Tutorial

FX Quantization Principle

Operator Fusion

API Reference

QAT

fx.fx_helper.wrap

quantization.fuse_known_modules

quantization.fuse_modules

quantization.prepare

Model Export

quantization.hbdk4.export

quantization.hbdk4.get_hbir_input_flattener

quantization.hbdk4.get_hbir_output_unflattener

Horizon Operator

nn.functional.filter

nn.functional.point_pillars_preprocess

nn.PointPillarsScatter

nn.MultiScaleDeformableAttention

bgr2centered_yuv

rgb2centered_yuv

bgr2centered_gray

rgb2centered_gray

Model Performance/Accuracy Tuning Guide

Model Performance Optimization

PTQ Model Accuracy Optimization

QAT Model Accuracy Optimization

Unify Compute Platform (UCP)

Vision Process

Module Architecture

Performance Indicator

Vision Algorithm

Bilateral Filter

Laplacian Filter

OpticalFlowPyrLK

Warp Perspective

Sample

Basic Image Processing Sample

Image Conversion Sample

Feature Extraction Sample

Optical Flow Sample

Surround View Image Stitching Sample

VP API Introduction

Data Structure

hbVPImageFormat

hbVPFilterKernel

hbVPInterpolationType

Function Interface

hbVPBilateralFilter

hbVPCornerHarris

hbVPEqualizehist

hbVPGaussianBlur

hbVPLaplacianFilter

hbVPOpticalFlowPyrLK

hbVPSepFilter2d

hbVPVideoEncode

hbVPVideoDecode

hbVPWarpPerspective

Environment Variable

Model Inference Development

Model Inference Application Development Guide

Model Inference API Introduction

Model Inference API Overview

Data Type and Data Structure

HB_DNN_TENSOR_MAX_DIMENSIONS

hbDNNPackedHandle_t

hbDNNTensorShape

hbDNNQuantiShift

hbDNNQuantiScale

hbDNNQuantiType

hbDNNTensorProperties

API Interface

Model Loading & Releasing

Model Inference

Dynamic input Introduction

NV12 Introduction

Configuration Info

Basic Sample User Guide

AI Benchmark User Guide

Model Inference Tool Introduction

Common Operations

The hrt_model_exec Tool Introduction

High Performance Library

HPL Introduction

Module Architecture

Performance Indicator

High Performance Algorithm

Fast Fourier Transform

Inverse Fast Fourier Transform

Fast Fourier Transform 2D

Inverse Fast Fourier Transform 2D

HPL API Introduction

HPL API Introduction

Data Structure

HB_HPL_MAX_DIMS

hbHPLImaginaryData

Functional Interface

UCP Common API Introduction

Data Structure

Version Information Type

hbUCPTaskHandle_t

hbUCPTaskDoneCb

HB_UCP_ALL_BACKENDS

hbUCPTaskPriority

HB_UCP_INITIALIZE_SCHED_PARAM

hbUCPSchedParam

hbUCPSysMemFlushFlag

Functional Interface

hbUCPGetVersion

hbUCPGetSocName

hbUCPSubmitTask

hbUCPWaitTaskDone

hbUCPSetTaskDoneCb

hbUCPReleaseTask

hbUCPMallocCached

hbUCPGetErrorDesc

Environment Variable

UCP Performance Analysis Tools

UCP Trace Instructions

The hrt_ucp_monitor Tool Introduction

Advanced Contents

Horizon Torch Samples

FRAMEWORK

Execution Engine

TUTORIALS

Quantized Training

Writing Specifications of set_qconfig and Customization of qconfig

How to Turn on AMP

Model Compilation

Registration Mechanism

Config Construction of FCOS-EfficientNetB0

Overriding Config Parameters Using Commands

Start-up Method

EXAMPLES

Executing the Script

Multi-machine Instructions

MobileNetV1 Classification Model Training

FCOS Detection Model Training

UNet Segmentation Model Training

PwcNet Optical Flow Prediction Model Training

PointPillars Detection Model Training

PointPillars Detection Model Training (No config)

PointPillars Detection Model Training (No config and HAT Trainer)

GaNet Lane Line Detection Model Training

FCOS3D Detection Model Training

Motr Multiple Object Track Model Training

CenterPoint Detection Model Training

StereoNet Binocular Depth Estimation Model Training

Bev Multi-task Model Training

Car Keypoint Detection Model Training

lidarMultiTask Model Training

DenseTNT Trajectory Prediction Model Training

Deformable DETR Detection Model Training

QCNet Trajectory Prediction Model Training

API REFERENCE

DSP Development Documentation

HBDK Tool API Reference

HBIR Operator Definition

Appendix

Toolchain Operator Support Constraint List

ONNX Operator Support List

Torch Operator Support List

Dataset Download

Common Abbreviations

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On This Page

Model Training
Exporting the Fixed-Point Model
Model Validation
Model Inference
Simulation Onboard Accuracy Validation
Fixed-Point Model Check and Compilation
Training Details
Model Construction
Data Loading
Training Strategy
Quantization-Aware Training
Quantization Sensitivity Operator Sorting