LMDrive大语言模型加持的自动驾驶闭环系统 原理与复现过程记录

absl-py==2.1.0 accelerate==1.0.1 actionlib==1.14.0 addict==2.4.0 aiofiles==23.2.1 altair==5.4.1 angles==1.9.13 annotated-types==0.7.0 antlr4-python3-runtime==4.9.3 anyio==4.5.2 asttokens==3.0.0 attrs==25.1.0 backcall==0.2.0 base_local_planner==1.17.3 bleach==6.1.0 blinker==1.8.2 blis==0.7.11 bondpy==1.8.6 braceexpand==0.1.7 cachetools==5.5.2 camera-calibration==1.17.0 camera-calibration-parsers==1.12.0 catalogue==2.0.10 catkin==0.8.10 certifi==2025.1.31 cfgv==3.4.0 charset-normalizer==3.4.1 click==8.1.8 cmake==3.25.0 comm==0.2.2 confection==0.1.5 ConfigArgParse==1.7 contexttimer==0.3.3 contourpy==1.1.1 controller-manager==0.20.0 controller-manager-msgs==0.20.0 cv-bridge==1.16.2 cycler==0.12.1 cymem==2.0.11 dash==2.18.2 dash-core-components==2.0.0 dash-html-components==2.0.0 dash-table==5.0.0 decorator==5.2.1 decord==0.6.0 diagnostic-analysis==1.11.0 diagnostic-common-diagnostics==1.11.0 diagnostic-updater==1.11.0 dictor==0.1.12 diffusers==0.16.0 distlib==0.3.9 distro==1.9.0 docker-pycreds==0.4.0 dynamic-reconfigure==1.7.3 easydict==1.13 einops==0.8.1 elementpath==1.3.3 ephem==4.2 etils==1.3.0 eval_type_backport==0.2.2 exceptiongroup==1.2.2 executing==2.2.0 fairscale==0.4.4 Farama-Notifications==0.0.4 fastapi==0.115.11 fastjsonschema==2.21.1 ffmpy==0.5.0 filelock==3.13.1 Flask==3.0.3 fonttools==4.56.0 fsspec==2025.3.0 ftfy==6.2.3 future==1.0.0 gazebo_plugins==2.9.3 gazebo_ros==2.9.3 gencpp==0.7.0 geneus==3.0.0 genlisp==0.4.18 genmsg==0.6.0 gennodejs==2.0.2 genpy==0.6.15 gitdb==4.0.12 GitPython==3.1.44 glfw==2.8.0 gradio==4.44.1 gradio_client==1.3.0 gym==0.17.2 gym-notices==0.0.8 gymnasium==1.0.0 gymnasium-robotics==1.3.1 h11==0.14.0 h5py==2.10.0 httpcore==1.0.7 httpx==0.28.1 huggingface-hub==0.29.2 Hydra==2.5 identify==2.6.1 idna==3.10 image-geometry==1.16.2 imageio==2.35.1 importlib_metadata==8.5.0 importlib_resources==6.4.5 interactive-markers==1.12.0 iopath==0.1.10 ipython==8.12.3 ipywidgets==8.1.5 itsdangerous==2.2.0 jedi==0.19.2 Jinja2==3.1.4 jiter==0.8.2 joblib==1.4.2 joint-state-publisher==1.15.1 joint-state-publisher-gui==1.15.1 jsk-recognition-msgs==1.2.17 jsk-recognition-utils==1.2.17 jsk_rviz_plugins==2.1.10 jsk_topic_tools==2.2.15 jsonschema==4.23.0 jsonschema-specifications==2023.12.1 jupyter_core==5.7.2 jupyterlab_widgets==3.0.13 kaggle==1.6.17 kiwisolver==1.4.7 langcodes==3.4.1 language_data==1.3.0 laser_geometry==1.6.7 lazy_loader==0.4 lit==15.0.7 marisa-trie==1.2.1 markdown-it-py==3.0.0 MarkupSafe==2.1.5 matplotlib==3.5.3 matplotlib-inline==0.1.7 mdurl==0.1.2 message-filters==1.17.0 modelscope==1.23.2 mpmath==1.3.0 mujoco==3.1.6 murmurhash==1.0.12 narwhals==1.28.0 nbformat==5.10.4 nest-asyncio==1.6.0 networkx==3.1 nodeenv==1.9.1 numpy==1.21.0 nvidia-cublas-cu11==11.10.3.66 nvidia-cuda-cupti-cu11==11.7.101 nvidia-cuda-nvrtc-cu11==11.7.99 nvidia-cuda-runtime-cu11==11.7.99 nvidia-cudnn-cu11==8.5.0.96 nvidia-cufft-cu11==10.9.0.58 nvidia-curand-cu11==10.2.10.91 nvidia-cusolver-cu11==11.4.0.1 nvidia-cusparse-cu11==11.7.4.91 nvidia-nccl-cu11==2.14.3 nvidia-nvtx-cu11==11.7.91 omegaconf==2.3.0 open3d==0.19.0 openai==1.65.2 opencv-python==4.2.0.32 opencv-python-headless==4.5.5.64 opendatasets==0.1.22 orjson==3.10.15 packaging==24.2 pandas==2.0.3 parso==0.8.4 pathlib_abc==0.1.1 pathy==0.11.0 peft==0.13.2 pettingzoo==1.24.3 pexpect==4.9.0 pickleshare==0.7.5 pillow==10.4.0 pkgutil_resolve_name==1.3.10 platformdirs==4.3.6 plotly==6.0.0 portalocker==3.0.0 pre-commit==3.5.0 preshed==3.0.9 prompt_toolkit==3.0.50 protobuf==5.29.3 psutil==7.0.0 ptyprocess==0.7.0 pure_eval==0.2.3 py-cpuinfo==9.0.0 py-trees==0.8.3 pyarrow==17.0.0 pycocoevalcap==1.2 pycocotools==2.0.7 pydantic==2.10.6 pydantic_core==2.27.2 pydeck==0.9.1 pydot==3.0.4 pydub==0.25.1 pygame==2.4.0 pyglet==1.5.0 Pygments==2.19.1 pyparsing==3.1.4 pyquaternion==0.9.9 python-dateutil==2.9.0.post0 python-magic==0.4.27 python-multipart==0.0.20 python-qt-binding==0.4.4 python-slugify==8.0.4 python-tr==0.1.2 pytz==2025.1 PyWavelets==1.4.1 PyYAML==6.0.2 qt-dotgraph==0.4.2 qt-gui==0.4.2 qt-gui-cpp==0.4.2 qt-gui-py-common==0.4.2 referencing==0.35.1 regex==2024.11.6 requests==2.32.3 resource_retriever==1.12.8 retrying==1.3.4 rich==13.9.4 rosbag==1.17.0 rosboost-cfg==1.15.8 rosclean==1.15.8 roscreate==1.15.8 rosgraph==1.17.0 roslaunch==1.17.0 roslib==1.15.8 roslint==0.12.0 roslz4==1.17.0 rosmake==1.15.8 rosmaster==1.17.0 rosmsg==1.17.0 rosnode==1.17.0 rosparam==1.17.0 rospy==1.17.0 rospy_message_converter==0.5.9 rosservice==1.17.0 rostest==1.17.0 rostopic==1.17.0 rosunit==1.15.8 roswtf==1.17.0 rpds-py==0.20.1 rqt-console==0.4.12 rqt-image-view==0.4.17 rqt-logger-level==0.4.12 rqt-moveit==0.5.11 rqt-reconfigure==0.5.5 rqt-robot-dashboard==0.5.8 rqt-robot-monitor==0.5.15 rqt-runtime-monitor==0.5.10 rqt-rviz==0.7.0 rqt-tf-tree==0.6.4 rqt_action==0.4.9 rqt_bag==0.5.1 rqt_bag_plugins==0.5.1 rqt_dep==0.4.12 rqt_graph==0.4.14 rqt_gui==0.5.3 rqt_gui_py==0.5.3 rqt_launch==0.4.9 rqt_msg==0.4.10 rqt_nav_view==0.5.7 rqt_plot==0.4.13 rqt_pose_view==0.5.11 rqt_publisher==0.4.10 rqt_py_common==0.5.3 rqt_py_console==0.4.10 rqt_robot_steering==0.5.12 rqt_service_caller==0.4.10 rqt_shell==0.4.11 rqt_srv==0.4.9 rqt_top==0.4.10 rqt_topic==0.4.13 rqt_web==0.4.10 ruff==0.9.10 rviz==1.14.25 safetensors==0.5.3 # Editable install with no version control (salesforce-lavis==1.0.1) # -e /home/cyun/Documents/LMDrive-main/LAVIS scikit-image==0.21.0 scikit-learn==1.3.2 scipy==1.8.1 semantic-version==2.10.0 sensor-msgs==1.13.1 sentencepiece==0.2.0 sentry-sdk==2.22.0 setproctitle==1.3.5 shapely==2.0.7 shellingham==1.5.4 simple-watchdog-timer==0.1.1 six==1.17.0 smach==2.5.3 smach-ros==2.5.3 smart-open==6.4.0 smclib==1.8.6 smmap==5.0.2 sniffio==1.3.1 sound-play==0.3.18 spacy==3.5.1 spacy-legacy==3.0.12 spacy-loggers==1.0.5 srsly==2.4.8 stable_baselines3==2.4.1 stack-data==0.6.3 starlette==0.44.0 streamlit==1.40.1 sympy==1.13.1 tabulate==0.9.0 tenacity==9.0.0 text-unidecode==1.3 tf==1.13.2 tf-conversions==1.13.2 tf2-geometry-msgs==0.7.7 tf2-kdl==0.7.7 tf2-py==0.7.7 tf2-ros==0.7.7 thinc==8.1.12 threadpoolctl==3.5.0 tifffile==2023.7.10 # Editable install with no version control (timm==0.4.13) # -e /home/cyun/Documents/LMDrive-main/vision_encoder tokenizers==0.20.3 toml==0.10.2 tomlkit==0.12.0 topic-tools==1.17.0 torch==2.0.1+cu118 torch-scatter==2.1.2+pt20cu118 torchaudio==2.0.2+cu118 torchvision==0.15.2+cu118 tornado==6.4.2 tqdm==4.67.1 traitlets==5.14.3 transformers==4.46.3 triton==2.0.0 typer==0.15.2 typing_extensions==4.12.2 tzdata==2025.1 urdfdom-py==0.4.6 urllib3==2.2.3 uvicorn==0.33.0 virtualenv==20.29.2 wandb==0.19.8 wasabi==1.1.3 watchdog==4.0.2 wcwidth==0.2.13 webdataset==0.2.100 webencodings==0.5.1 websockets==12.0 Werkzeug==3.0.6 widgetsnbextension==4.0.13 xacro==1.14.19 xmlschema==1.0.18 zipp==3.20.2