Ajinkya RasaneandCodex 5c123ce183 [OMNIML-5563] Add PETR ONNX PTQ and accuracy evaluation example (#2180)
### What does this PR do?

Type of change: new example, example simplification, and
backward-breaking example migration

Adds end-to-end PETRv1/PETRv2 ONNX PTQ and reduces PETR/FAR3D to one
shared workflow:

- quantizes the shared VoVNet image backbone/encoder to INT8 or FP8;
- runs both the selected historical and current PETRv2 six-camera sweeps
through the same precision-matched TensorRT backbone engine using
distinct execution contexts during accuracy evaluation;
- keeps the PETR head and FAR3D decoder in their exported mixed
FP16/FP32 precision;
- reuses one NPZ calibration format, VoVNet exclusion helper,
quantization entry point, and TensorRT runner;
- does not change generic Model Optimizer calibration behavior or its
public CLI.

### Container boundary

Both examples use two targets from one Dockerfile, with no virtual
environments:

- `evaluator`: a digest-pinned `nvcr.io/nvidia/pytorch:22.06-py3` base
with the legacy PyTorch 1.13.1/OpenMMLab stack for source setup,
metadata generation, ONNX export, direct PyTorch calibration capture,
and final accuracy evaluation;
- `modelopt`: a digest-pinned `nvcr.io/nvidia/pytorch:26.07-py3` base
for Model Optimizer, ONNX Runtime CUDA, AutoCast, INT8/FP8 quantization,
and TensorRT engine builds.

Both targets use TensorRT `11.1.0.106`. Engines are built and evaluated
on the same GPU architecture. Final metrics remain in the evaluator
because they import the legacy model-framework postprocessing and
dataset code; only artifacts cross the container boundary through the
shared workspace.

PETR is used without patches. FAR3D applies only the official
`patch/far3d.patch` from the pinned NVIDIA DL4AGX revision. This PR
carries no patch files.

### Evaluator dependencies

The dependencies intentionally installed without transitive dependencies
are listed in `requirements-evaluator-nodeps.txt`. Their pins rely on
runtime packages supplied by the digest-pinned PyTorch 22.06 evaluator
base.

`lyft-dataset-sdk` is required only by mmdet3d's eager dataset import;
neither PETR nor FAR3D uses Lyft data. `flash-attn` remains in the main
evaluator requirements because its compiled installation uses the
evaluator build step rather than the intentionally dependency-free
legacy package step.

Fresh setup and dependency approval is requested for the final reduced
dependency set.

### Reproducible PETR metadata

The documented workflow mounts raw nuScenes read-only and creates a
writable dataset view using symlinks. It then runs the pinned
mmdetection3d converter and a temporary, untracked copy of PETR's pinned
sweep generator configured only for the validation prefix and writable
dataset root.

A clean run generated both metadata files with 6,019 validation records.
The referenced camera, lidar, and sweep paths are absolute and
resolvable through the writable dataset view.

### Example-local utilities

The per-batch NPZ streaming and TensorRT runtime utilities remain
example-local because they execute in the legacy evaluator, where Model
Optimizer is not installed. The core `CalibrationDataProvider` consumes
one in-memory mapping of stacked arrays and does not provide this
streamed per-file workflow.

### Validation

- Focused CPU tests: 10 passed.
- Broader ONNX quantization CPU tests: 326 passed.
- All applicable pre-commit and documentation checks, plus `git diff
--check`, passed.
- Rebuilt both Docker targets and verified their exact dependency
versions, imports, TensorRT `11.1.0.106`, GPU runtime initialization,
and absence of virtual environments.
- Generated both PETR metadata files from a clean writable dataset view
and verified 6,019 validation records plus resolvable data paths.
- PETRv1 passed a one-sample TensorRT regression smoke.
- PETRv2 passed FP16, INT8, and FP8 TensorRT smokes and full
6,019-sample validation. Both the selected historical and current sweeps
are computed by the matching backbone engine; accuracy evaluation no
longer extracts image features with PyTorch.
- FAR3D passed a recurrent two-frame TensorRT smoke covering plugin
loading and recurrent state.

TensorRT `11.1.0.106` mAP follows. PETRv2 was remeasured after
correcting its temporal feature path; the PETRv1 and FAR3D numerical
paths are unchanged.

| Pipeline | FP16 | INT8 | FP8 |
| --- | ---: | ---: | ---: |
| PETRv1: 1 backbone pass + fixed typed mixed FP16/FP32 head | 0.3778 |
0.3707 | 0.3756 |
| PETRv2: 2 serial backbone passes + fixed typed mixed FP16/FP32 head |
0.4102 | 0.3982 | 0.4084 |
| FAR3D: 1 encoder pass + fixed mixed FP16/FP32 decoder | 0.241 | 0.235
| 0.239 |

Normalized engine-only performance improvement over each matching FP16
pipeline:

| Pipeline | INT8 speedup | FP8 speedup |
| --- | ---: | ---: |
| PETRv1 | 1.49x | 1.29x |
| PETRv2 | 1.51x | 1.30x |
| FAR3D | 1.69x | 1.40x |

Performance was measured with TensorRT `11.1.0.106` on an NVIDIA RTX
6000 Ada Generation GPU using five interleaved trials per engine
component. Each component uses the median `trtexec`-reported GPU Compute
Time with data transfers disabled and CUDA Graphs enabled. Component
times are summed before normalization: PETRv1 uses one backbone pass
plus its fixed head, PETRv2 uses two serial backbone passes plus its
fixed head with no temporal cache assumed, and FAR3D uses one encoder
pass plus its fixed decoder. Absolute latency values are intentionally
not published.

Adapted files retain exact public-source references and upstream
notices, and the top-level license attribution is updated.

- Is this change backward compatible?: ❌
- Did you write the necessary tests?: ✅
- Did you update the changelog?: ✅

> 🤖 _Generated by Codex (AI agent)._

---------

Signed-off-by: ajrasane <131806219+ajrasane@users.noreply.github.com>
Co-authored-by: Codex <codex@openai.com>
2026-09-08 17:32:56 +00:00
…
…

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NVIDIA Model Optimizer

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NVIDIA Model Optimizer (referred to as Model Optimizer, or ModelOpt) is a library comprising state-of-the-art model optimization techniques including quantization, pruning, Neural Architecture Search (NAS), distillation, speculative decoding and sparsity to accelerate models.

[Input] Model Optimizer currently supports inputs of a Hugging Face, PyTorch or ONNX model.

[Optimize] Model Optimizer provides Python APIs for users to easily compose the above model optimization techniques and export an optimized quantized checkpoint. Model Optimizer is also integrated with NVIDIA Megatron-Bridge, Megatron-LM and Hugging Face Accelerate for training required inference optimization techniques.

[Export for deployment] Seamlessly integrated within the NVIDIA AI software ecosystem, the quantized checkpoint generated from Model Optimizer is ready for deployment in downstream inference frameworks like SGLang, TensorRT-LLM, TensorRT, or vLLM. The unified Hugging Face export API now supports both transformers and diffusers models.

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Install

To install stable release packages for Model Optimizer with pip from PyPI:

pip install -U nvidia-modelopt[all]

Model Optimizer will download and install additional third-party open source software projects. Review the license terms of these open source projects before use.

To install from source in editable mode with all development dependencies or to use the latest features, run:

# Clone the Model Optimizer repository
git clone git@github.com:NVIDIA/Model-Optimizer.git
cd Model-Optimizer

pip install -e .[dev]

You can also directly use NVIDIA container images, which have Model Optimizer pre-installed:

  • nvcr.io/nvidia/pytorch:<version>-py3
  • nvcr.io/nvidia/nemo:<version>
  • nvcr.io/nvidia/tensorrt-llm/release:<version>

Before pulling and using the container images, please review their respective license terms. Make sure to upgrade Model Optimizer to the latest version as described above. Visit our installation guide for more fine-grained control on installed dependencies or for alternative docker images and environment variables to setup.

Techniques

Technique Description Examples Docs
Post Training Quantization Compress model size by 2x-4x, speeding up inference while preserving model quality! [HF LLMs / VLMs] [Megatron-Bridge LLMs / VLMs] [Diffusers] [ONNX] [Windows] [docs]
Quantization Aware Training / Distillation Refine accuracy of quantized models even further with a few training steps! [Hugging Face] [Megatron-Bridge] [docs]
Pruning Reduce your model parameters or memory footprint and accelerate inference by removing unnecessary weights! [General] [Megatron-Bridge]
Distillation Reduce deployment model size by teaching small models to behave like larger models! [Hugging Face] [Megatron-Bridge] [Megatron-LM] [docs]
Speculative Decoding Train draft modules to predict extra tokens during inference! [Hugging Face] [Megatron-LM] [docs]
Sparsity Efficiently compress your model by storing only its non-zero parameter values and their locations [Hugging Face] [docs]

Pre-Quantized Checkpoints

Resources

Model Support Matrix

Model Type Support Matrix
LLM / VLM Quantization View Support Matrix
Diffusers Quantization View Support Matrix
ONNX Quantization View Support Matrix
Windows Quantization View Support Matrix
Quantization Aware Training View Support Matrix
Pruning View Support Matrix
Distillation View Support Matrix
Speculative Decoding View Support Matrix

Deprecation Policy

Model Optimizer follows a structured approach to managing deprecated features:

  • Communication: Deprecation notices are documented in the Changelog. Deprecated items include source code statements indicating deprecation timing, with runtime warnings issued upon use.
  • Migration Period: Since Model Optimizer is still pre-1.0, we provide a 1-release (~1-month) migration period after deprecation. During this window, deprecated features continue functioning while issuing warnings.
  • Scope: The policy addresses both complete deprecations (entire APIs removed) and partial ones (specific parameters removed while methods remain).
  • Removal: Following the migration period, deprecated elements are removed in alignment with semantic versioning standards, potentially including breaking changes in minor version updates while Model Optimizer remains in 0.x.

Citation

If you use NVIDIA Model Optimizer in your research, please cite it as follows:

@misc{nvidia-modelopt,
  author       = {{NVIDIA Corporation}},
  title        = {{NVIDIA Model Optimizer}},
  howpublished = {\url{https://github.com/NVIDIA/Model-Optimizer}},
  year         = {2024--2026},
  note         = {GitHub repository}
}

Contributing

Model Optimizer is now open source! We welcome any feedback, feature requests and PRs. Please read our Contributing guidelines for details on how to contribute to this project.

AI Agents

ModelOpt's agent skills can be installed from this repository and used in any workspace.

Claude Code

claude plugin marketplace add https://github.com/NVIDIA/Model-Optimizer.git
claude plugin install modelopt@modelopt

Codex

codex plugin marketplace add https://github.com/NVIDIA/Model-Optimizer.git

Then open /plugins, select the modelopt marketplace, and install modelopt. Contributors can also use the skills directly from a checkout. See the agent tooling notes.

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