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Merged
AricGamma merged 1 commit into from
Mar 13, 2026
Merged

feat: sft navsim #17

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27 changes: 18 additions & 9 deletions README.md
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Expand Up @@ -40,11 +40,11 @@

| Status | Milestone | ETA |
| :----: | :----------------------------------------------------------------------------------------------------: | :--------: |
| ✅ | **[Release the SFT and inference code](https://github.com/fudan-generative-vision/WAM-Flow)** | 2025.12.19 |
| ✅ | **[Pretrained models on Huggingface](https://huggingface.co/fudan-generative-ai/WAM-Flow)** | 2026.02.01 |
| ✅ | **[Release the evaluation code](https://huggingface.co/fudan-generative-ai/WAM-Flow)** | 2026.03.03 |
| 🚀 | **[Release the RL code](https://github.com/fudan-generative-vision/WAM-Flow)** | TBD |
| 🚀 | **[Release the pre-processed training data](#training)** | TBD |
| ✅ | **[Release the SFT and inference code]()** | 2025.12.19 |
| ✅ | **[Pretrained models on Huggingface](https://huggingface.co/fudan-generative-ai/WAM-Flow)** | 2026.02.01 |
| ✅ | **[Release the evaluation code]()** | 2026.03.03 |
| ✅ | **[Release the SFT data](https://huggingface.co/fudan-generative-ai/WAM-Flow/tree/main/data)** | 2026.03.12 |
| 🚀 | **[Release the RL code]()** | TBD |


## 📸 Showcase
Expand Down Expand Up @@ -98,6 +98,7 @@ Download models using huggingface-cli:
pip install "huggingface_hub[cli]"
huggingface-cli download fudan-generative-ai/WAM-Flow --local-dir ./pretrained_model/wam-flow
huggingface-cli download LucasJinWang/FUDOKI --local-dir ./pretrained_model/fudoki
mv pretrained_model/wam-flow/data/* data/
```


Expand Down Expand Up @@ -129,6 +130,14 @@ sh script/infer.sh

### Training

**NAVSIM**

```bash
sh script/sft_navsim.sh
```

**Debug**

```bash
sh script/sft_debug.sh
```
Expand All @@ -140,11 +149,11 @@ sh script/sft_debug.sh
If you find our work useful for your research, please consider citing the paper:

```
@article{xu2025wam,
@inproceedings{xu2026wamflow,
title={WAM-Flow: Parallel Coarse-to-Fine Motion Planning via Discrete Flow Matching for Autonomous Driving},
author={Xu, Yifang and Cui, Jiahao and Cai, Feipeng and Zhu, Zhihao and Shang, Hanlin and Luan, Shan and Xu, Mingwang and Zhang, Neng and Li, Yaoyi and Cai, Jia and others},
journal={arXiv preprint arXiv:2512.06112},
year={2025}
author={Xu, Yifang and Cui, Jiahao and Cai, Feipeng and Zhu, Zhihao and Shang, Hanlin and Luan, Shan and Xu, Mingwang and Zhang, Neng and Li, Yaoyi and Cai, Jia and Zhu, Siyu},
booktitle={CVPR},
year={2026}
}
```

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2 changes: 1 addition & 1 deletion config/sft_navsim.yaml
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Expand Up @@ -11,7 +11,7 @@ ckpt_path: ""
train_llm_emb: false

data_list: [
"path/to/navsim_668k.jsonl",
"data/navsim_668k.jsonl",
]

mixed_precision: "no"
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4 changes: 2 additions & 2 deletions scripts/sft_navsim.sh
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@@ -1,10 +1,10 @@
#!/bin/bash

NUM_NODES=1
NUM_GPUS=1
NUM_GPUS=8

config=config/sft_navsim.yaml
output_dir=output/train/debug
output_dir=output/train/navsim

accelerate launch \
--config_file ./config/accelerate_config_ds2.yaml \
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