ln2697/tfv6_navsim

TFv6 NavSim

Autonomous driving planning model (TransFuser-based). Predicts waypoints and headings.

Usage

pip install torch timm numpy opencv-python jaxtyping beartype omegaconf huggingface_hub

Input/Output

Input:

• RGB: (256, 1920, 3), range [0, 255]
• Command: [left, straight, right, unknown], e.g. [0, 1, 0, 0] for straight
• Speed: m/s
• Acceleration: m/s²

Output:

• waypoints: (N, 2) predicted positions
• headings: (N,) predicted angles

Details

• Architecture: TransFuser
• Dataset: NavSim (4 cameras)
• Checkpoint: Epoch 60