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feat(tlr) panoptic segmentation dataset support #187

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ea16b65
add dataset loader-level filtering of small/truncated/occluded bboxes
jacoblambert Feb 24, 2026
4a59a0c
handle malformed fastlabel dataset and skippable classes
jacoblambert Feb 24, 2026
1039ca8
update comlops full class list
jacoblambert Feb 24, 2026
824f938
tlr_semseg_v1 dataset config file
jacoblambert Feb 24, 2026
95de750
detection2d distributed training script
jacoblambert Feb 24, 2026
8cf5f6c
Merge branch 'main' of github.com:tier4/AWML into feat/tlr_comlops_da…
jacoblambert Feb 24, 2026
be22111
ci(pre-commit): autofix
pre-commit-ci[bot] Feb 24, 2026
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26 changes: 26 additions & 0 deletions autoware_ml/configs/classification2d/dataset/t4dataset/tlr_classifier_car.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
"db_tlr_v5",
"db_tlr_v6",
"db_tlr_v7",
"db_tlr_semseg_v1",
]

classes = (
Expand Down Expand Up @@ -55,4 +56,29 @@
"yellow_straight_left": "SKIP_CLASS",
"yellow_straight_right": "SKIP_CLASS",
"yellow_straight_left_right": "SKIP_CLASS",
# Skip the following semantic TLR if present
"traffic_light_back": "SKIP_CLASS",
"crosswalk_light_back": "SKIP_CLASS",
# Bulb boxes
"red_bulb": "SKIP_CLASS",
"green_bulb": "SKIP_CLASS",
"yellow_bulb": "SKIP_CLASS",
"red_left_arrow_bulb": "SKIP_CLASS",
"red_right_arrow_bulb": "SKIP_CLASS",
"red_straight_arrow_bulb": "SKIP_CLASS",
"red_up_left_arrow_bulb": "SKIP_CLASS",
"red_up_right_arrow_bulb": "SKIP_CLASS",
"red_arrow_unknown_bulb": "SKIP_CLASS",
"green_left_arrow_bulb": "SKIP_CLASS",
"green_right_arrow_bulb": "SKIP_CLASS",
"green_straight_arrow_bulb": "SKIP_CLASS",
"green_up_left_arrow_bulb": "SKIP_CLASS",
"green_up_right_arrow_bulb": "SKIP_CLASS",
"green_arrow_unknown_bulb": "SKIP_CLASS",
"yellow_left_arrow_bulb": "SKIP_CLASS",
"yellow_right_arrow_bulb": "SKIP_CLASS",
"yellow_straight_arrow_bulb": "SKIP_CLASS",
"yellow_up_left_arrow_bulb": "SKIP_CLASS",
"yellow_up_right_arrow_bulb": "SKIP_CLASS",
"yellow_arrow_unknown_bulb": "SKIP_CLASS",
}
29 changes: 26 additions & 3 deletions autoware_ml/configs/classification2d/dataset/t4dataset/tlr_classifier_pedestrian.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
"db_tlr_v5",
"db_tlr_v6", # does not have any pedestrian tlr data
"db_tlr_v7", # does not have any pedestrian tlr data
"db_tlr_semseg_v1",
]

classes = (
Expand All @@ -16,9 +17,6 @@
)

class_mappings = {
"crosswalk_red": "crosswalk_red",
"crosswalk_green": "crosswalk_green",
"crosswalk_unknown": "crosswalk_unknown",
# skip the following classes if present like in AWMLDetection2d
"green": "SKIP_CLASS",
"left-red": "SKIP_CLASS",
Expand Down Expand Up @@ -48,4 +46,29 @@
"red_straight_right": "SKIP_CLASS",
"red_straight_left_right": "SKIP_CLASS",
"red_leftdiagonal": "SKIP_CLASS",
# Skip the following semantic TLR if present
"traffic_light_back": "SKIP_CLASS",
"crosswalk_light_back": "SKIP_CLASS",
# Bulb boxes
"red_bulb": "SKIP_CLASS",
"green_bulb": "SKIP_CLASS",
"yellow_bulb": "SKIP_CLASS",
"red_left_arrow_bulb": "SKIP_CLASS",
"red_right_arrow_bulb": "SKIP_CLASS",
"red_straight_arrow_bulb": "SKIP_CLASS",
"red_up_left_arrow_bulb": "SKIP_CLASS",
"red_up_right_arrow_bulb": "SKIP_CLASS",
"red_arrow_unknown_bulb": "SKIP_CLASS",
"green_left_arrow_bulb": "SKIP_CLASS",
"green_right_arrow_bulb": "SKIP_CLASS",
"green_straight_arrow_bulb": "SKIP_CLASS",
"green_up_left_arrow_bulb": "SKIP_CLASS",
"green_up_right_arrow_bulb": "SKIP_CLASS",
"green_arrow_unknown_bulb": "SKIP_CLASS",
"yellow_left_arrow_bulb": "SKIP_CLASS",
"yellow_right_arrow_bulb": "SKIP_CLASS",
"yellow_straight_arrow_bulb": "SKIP_CLASS",
"yellow_up_left_arrow_bulb": "SKIP_CLASS",
"yellow_up_right_arrow_bulb": "SKIP_CLASS",
"yellow_arrow_unknown_bulb": "SKIP_CLASS",
}
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