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+</li>
+      
+        <li class="md-nav__item">
+  <a href="#training-a-yolox-model-for-autoware_traffic_light_fine_detector" class="md-nav__link">
+    <span class="md-ellipsis">
+      
+        Training a YOLOX model for autoware_traffic_light_fine_detector
+      
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Training a YOLOX model for autoware_traffic_light_fine_detector">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#example-dataset-voc-format" class="md-nav__link">
+    <span class="md-ellipsis">
+      
+        📦 Example Dataset (VOC Format)
+      
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
 
     </ul>
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+</li>
+      
+        <li class="md-nav__item">
+  <a href="#training-a-yolox-model-for-autoware_traffic_light_fine_detector" class="md-nav__link">
+    <span class="md-ellipsis">
+      
+        Training a YOLOX model for autoware_traffic_light_fine_detector
+      
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Training a YOLOX model for autoware_traffic_light_fine_detector">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#example-dataset-voc-format" class="md-nav__link">
+    <span class="md-ellipsis">
+      
+        📦 Example Dataset (VOC Format)
+      
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
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     </ul>
@@ -13061,6 +13117,38 @@ <h2 id="training-centerpoint-3d-object-detection-model">Training CenterPoint 3D
 <p>In order to assist you with your training process, we have also included an example dataset in the TIER IV dataset format.</p>
 <p>This dataset contains 600 lidar frames and covers 5 classes, including 6905 cars, 3951 pedestrians, 75 cyclists, 162 buses, and 326 trucks.</p>
 <p>You can utilize this example dataset to facilitate your training efforts.</p>
+<h2 id="training-a-yolox-model-for-autoware_traffic_light_fine_detector">Training a YOLOX model for <code>autoware_traffic_light_fine_detector</code><a class="headerlink" href="#training-a-yolox-model-for-autoware_traffic_light_fine_detector" title="Permanent link">#</a></h2>
+<p>To train a custom YOLOX model for use with the <strong>Autoware Traffic Light Fine Detector</strong>, please refer to the official YOLOX and Autoware training guides listed below. These documents provide the required setup, data preparation steps, and export instructions.</p>
+<details class="abstract" open="open">
+<summary>Relevant documentation</summary>
+<div class="grid cards" markdown>
+<ul>
+<li>
+<p><strong>Autoware traffic_light_fine_detector README</strong></p>
+<hr>
+<p>Training overview, model requirements, and ONNX export details:
+<a href="https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_traffic_light_fine_detector/README.md">autoware_universe/perception/autoware_traffic_light_fine_detector/README.md</a></p>
+</li>
+</ul>
+<ul>
+<li>
+<p><strong>YOLOX Custom Dataset Training Guide</strong></p>
+<hr>
+<p>Instructions for preparing datasets, configuring experiments, and launching training:
+<a href="https://github.com/Megvii-BaseDetection/YOLOX/blob/main/docs/train_custom_data.md">YOLOX/train_custom_data.md</a></p>
+</li>
+</ul>
+</div>
+</details>
+<h3 id="example-dataset-voc-format">📦 Example Dataset (VOC Format)<a class="headerlink" href="#example-dataset-voc-format" title="Permanent link">#</a></h3>
+<p>To assist with training, an example dataset containing <strong>1062 cropped traffic-light images with Pascal VOC annotations</strong> is available here:</p>
+<p><a class="md-button" href="https://autoware-files.s3.us-west-2.amazonaws.com/dataset/traffic_light_detection_sample_dataset.tar.gz"><i class="fa-solid fa-cloud-arrow-down"></i> Download the sample traffic light dataset (3 MB)</a></p>
+<ul>
+<li>Use the YOLOX documentation to set up your environment and prepare your dataset (VOC or COCO).</li>
+<li>Train a YOLOX model using your custom traffic-light data or the provided sample dataset.</li>
+<li>After training, export the model to <strong>ONNX</strong> following the instructions in the Autoware <code>traffic_light_fine_detector</code> README.</li>
+<li>Replace or integrate the exported ONNX model within the Autoware package for deployment.</li>
+</ul>
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