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[OpenCOOD] Refactor OpenCOOD wire payloads - #196

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Haralishev77 merged 6 commits into
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feature/refactor-opencood-wire-payloads
Sep 2, 2026
Merged

Haralishev77 merged 6 commits into
mainfrom
feature/refactor-opencood-wire-payloads

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Summary

Refactors the OpenCOOD communication contract so that Artery carries only data required for distributed inference. Dataset supervision and visualization data remain local, while model-specific communication is handled through adapters.

Related issue

Related to #191

Changes

  • Added typed inference inputs, metadata, wire payloads, and model-owned communication adapters.
  • Removed GT, labels, object IDs, anchors, and visualization data from network payloads.
  • Made Intermediate and Late fusion independent of specific preprocessor output fields.
  • Added an FPV-RCNN adapter that exchanges stage-one proposals and VSA features without using remote GT.
  • Added a temporary fallback adapter for models awaiting dedicated communication contracts.

Validation

  • Simulation run
  • Manual verification

Checklist

  • Linked the related issue
  • Kept the PR focused and reviewable

@Haralishev77 Haralishev77 self-assigned this Sep 2, 2026
@Haralishev77 Haralishev77 added OpenCOOD Some changes in OpenCOOD module CoP Something new in cooperative perception category labels Sep 2, 2026
Comment thread OpenCOOD/opencood/models/communication_adapters/inference_metadata.py Dismissed
Comment thread OpenCOOD/opencood/models/communication_adapters/fpvrcnn.py Dismissed
@Haralishev77
Haralishev77 merged commit d5dda1c into main Sep 2, 2026
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@Haralishev77
Haralishev77 deleted the feature/refactor-opencood-wire-payloads branch September 2, 2026 13:12
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CoP Something new in cooperative perception category OpenCOOD Some changes in OpenCOOD module

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[Feature]: Remove non-inference data from cooperative perception network payloads

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