Add files using upload-large-folder tool

README.md

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+---
+license: other
+license_name: cc-by-nc-sa-4.0-and-apache-2.0
+license_link: https://huggingface.co/ADRLAB/odyssey-models#license
+tags:
+- autonomous-driving
+- end-to-end-driving
+- motion-planning
+- navsim
+- pytorch-lightning
+---
+
+# Odyssey Models
+
+Checkpoints of the end-to-end driving planners evaluated in the **Odyssey** closed-loop benchmark.
+
+- Five planners are included: LTF, DrivoR, DiffusionDrive, SafeDrive and ReCogDrive.
+- Each comes in two versions:
+  - **`baseline`:** the upstream model. It takes NAVSIM's `driving_command` and has no route.
+  - **`sdroute`:** `driving_command` is removed, and a standard-definition (SD) route becomes the only navigation signal.
+- The code that loads and runs these checkpoints is **OdysseyZoo**. A link will be added here once it is public.
+- The closed-loop scenes are in [ADRLAB/odyssey-scenes](https://huggingface.co/datasets/ADRLAB/odyssey-scenes).
+
+## Checkpoints
+
+Paths match the OdysseyZoo tree, so the files land in place when you download into an OdysseyZoo checkout.
+
+| File | Model | Version | Origin | License |
+|---|---|---|---|---|
+| `third_party/navsim/ckpts/ltf_baseline.ckpt` | LTF | baseline | NAVSIM release: [`autonomousvision/navsim_baselines`](https://huggingface.co/autonomousvision/navsim_baselines) `ltf/ltf_seed_0.ckpt` | Apache-2.0 |
+| `third_party/navsim/ckpts/ltf_sdroute.ckpt` | LTF | sdroute | trained by us | CC BY-NC-SA 4.0 |
+| `third_party/DrivoR/ckpts/drivor_baseline.ckpt` | DrivoR | baseline | [DrivoR](https://github.com/valeoai/DrivoR) authors' release (GitHub Releases, navtrain only, 25 epochs) | Apache-2.0 |
+| `third_party/DrivoR/ckpts/drivor_sdroute.ckpt` | DrivoR | sdroute | trained by us | CC BY-NC-SA 4.0 |
+| `third_party/DiffusionDrive/ckpts/diffusiondrive_baseline.ckpt` | DiffusionDrive | baseline | trained by us with the upstream recipe | CC BY-NC-SA 4.0 |
+| `third_party/DiffusionDrive/ckpts/diffusiondrive_sdroute.ckpt` | DiffusionDrive | sdroute | trained by us | CC BY-NC-SA 4.0 |
+| `third_party/SafeDrive/ckpts/safedrive_baseline.ckpt` | SafeDrive | baseline (camera-only, with pedestrian detection) | trained by us | CC BY-NC-SA 4.0 |
+| `third_party/SafeDrive/ckpts/safedrive_sdroute.ckpt` | SafeDrive | sdroute | trained by us | CC BY-NC-SA 4.0 |
+| `third_party/recogdrive/ckpts/recogdrive_baseline.ckpt` | ReCogDrive | baseline | ReCogDrive release: [`owl10/ReCogDrive-2B-RL`](https://huggingface.co/owl10/ReCogDrive-2B-RL) | Apache-2.0 |
+| `third_party/recogdrive/ckpts/recogdrive_sdroute.ckpt` | ReCogDrive | sdroute (imitation learning + GRPO) | trained by us | CC BY-NC-SA 4.0 |
+| `third_party/recogdrive/ckpts/recogdrive_sdroute_il.ckpt` | ReCogDrive | sdroute, imitation learning only (before GRPO) | trained by us | CC BY-NC-SA 4.0 |
+
+- Every model was trained on NAVSIM `navtrain`.
+- **File contents:** each file keeps only `state_dict`, `pytorch-lightning_version`, `epoch` and `global_step`.
+  - Optimizer, scheduler and callback states were dropped, so a file is about a third of a full Lightning checkpoint. This means they cannot resume training.
+  - For the three upstream checkpoints, every tensor is identical to the original release.
+- `SHA256SUMS` lists the checksum of every file.
+
+## Download
+
+```bash
+# all checkpoints, into an OdysseyZoo checkout
+hf download ADRLAB/odyssey-models --include "third_party/*" --local-dir OdysseyZoo
+
+# verify
+hf download ADRLAB/odyssey-models SHA256SUMS --local-dir .
+(cd OdysseyZoo && sha256sum -c ../SHA256SUMS)
+```
+
+`--include "third_party/*"` keeps this repo's `README.md` from overwriting OdysseyZoo's.
+
+**Also needed, from their own repos:**
+
+| For | Download into | Command |
+|---|---|---|
+| ReCogDrive (all three checkpoints) | `third_party/recogdrive/ckpts/ReCogDrive-VLM-2B/` | `hf download owl10/ReCogDrive-VLM-2B --local-dir OdysseyZoo/third_party/recogdrive/ckpts/ReCogDrive-VLM-2B` |
+| DrivoR (both checkpoints) | `third_party/DrivoR/weights/vit_small_patch14_reg4_dinov2.lvd142m/` | `hf download timm/vit_small_patch14_reg4_dinov2.lvd142m --local-dir OdysseyZoo/third_party/DrivoR/weights/vit_small_patch14_reg4_dinov2.lvd142m` |
+
+- LTF, DiffusionDrive and SafeDrive fetch `timm/resnet34.a1_in1k` from the Hugging Face Hub when the model is built. On an offline machine, have it in the local HF cache.
+- The DINOv2 and ResNet-34 weights are only initial values. The checkpoints overwrite them.
+
+## License
+
+- **Checkpoints trained by us:** [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/).
+  - They were trained on NAVSIM/OpenScene data derived from nuPlan, so the [nuPlan terms of use](https://www.nuscenes.org/terms-of-use) also apply.
+  - Non-commercial use only.
+- **Upstream checkpoints** (`ltf_baseline`, `drivor_baseline`, `recogdrive_baseline`):
+  - Redistributed under their original [Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0) license.
+  - Modified only by dropping the training state, as described above.
+  - Origins are listed in the table.
+
+## Citation
+
+Please cite the upstream works of the models you use:
+
+- [NAVSIM](https://github.com/autonomousvision/navsim), which also provides LTF
+- [DrivoR](https://github.com/valeoai/DrivoR)
+- [DiffusionDrive](https://github.com/hustvl/DiffusionDrive)
+- [SafeDrive](https://github.com/SPA-junghokim/SafeDrive)
+- [ReCogDrive](https://github.com/xiaomi-research/recogdrive)

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