README.md

---
license: mit
language:
  - en
library_name: pytorch
tags:
  - computer-vision
  - autonomous-driving
  - self-driving
  - interfuser
  - carla
  - object-detection
  - trajectory-prediction
datasets:
  - PDM-Lite-CARLA
pipeline_tag: object-detection
---

# 🚗 InterFuser-Baseer-v1: Autonomous Driving Model

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
[![PyTorch](https://img.shields.io/badge/PyTorch-EE4C2C?style=flat&logo=pytorch&logoColor=white)](https://pytorch.org/)
[![CARLA](https://img.shields.io/badge/CARLA-Simulator-blue)](https://carla.org/)
[![Demo](https://img.shields.io/badge/🚀-Live%20Demo-brightgreen)](https://huggingface.co/spaces/BaseerAI/Baseer_Server)

> **🎮 [Try the Live Demo](https://huggingface.co/spaces/BaseerAI/Baseer_Server)** - Experience the model in action with real-time autonomous driving simulation!

## 📖 Overview

InterFuser-Baseer-v1 is a state-of-the-art transformer-based model for autonomous driving, specifically fine-tuned for the **[Baseer Self-Driving API](https://huggingface.co/spaces/BaseerAI/Baseer_Server)**. This model combines computer vision and deep learning to provide real-time traffic object detection and trajectory planning in simulated driving environments.

### 🎯 Key Capabilities

- **Multi-Task Learning**: Simultaneous traffic object detection and waypoint prediction
- **Transformer Architecture**: Advanced attention mechanisms for scene understanding
- **Real-Time Processing**: Optimized for real-time inference in driving scenarios
- **CARLA Integration**: Specifically tuned for CARLA simulation environment

## 🏗️ Architecture

### Model Components

| Component | Specification |
|-----------|---------------|
| **Image Backbone** | ResNet-50 (ImageNet pretrained) |
| **LiDAR Backbone** | ResNet-18 (disabled in this version) |
| **Transformer** | 6-layer encoder/decoder, 8 attention heads |
| **Embedding Dimension** | 256 |
| **Prediction Heads** | GRU-based waypoint predictor + Detection head |

### Output Format

- **Traffic Detection**: 20×20×7 grid (confidence, position, dimensions, orientation)
- **Waypoint Prediction**: 10 future trajectory points
- **Scene Understanding**: Junction, traffic light, and stop sign detection

## 🚀 Quick Start

### Installation

```bash
pip install torch torchvision timm huggingface_hub
```

### Usage Example

```python
import torch
from huggingface_hub import hf_hub_download

# Download model weights
model_path = hf_hub_download(
    repo_id="BaseerAI/Interfuser-Baseer-v1",
    filename="best_model.pth"
)

# Load model (requires InterFuser class definition)
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
model = torch.load(model_path, map_location=device)
model.eval()

# Inference
with torch.no_grad():
    outputs = model(input_data)
```

## 📊 Performance

### Training Details

- **Dataset**: PDM-Lite-CARLA (Urban driving scenarios)
- **Training Objective**: Multi-task learning with IoU optimization
- **Framework**: PyTorch

### Key Metrics

- Optimized for traffic detection accuracy
- Enhanced bounding box IoU performance
- Robust waypoint prediction in urban scenarios

## ⚠️ Limitations

### Current Constraints

- **Simulation Only**: Trained exclusively on CARLA data
- **Single Camera**: Front-facing camera view only
- **No LiDAR**: Vision-based approach without LiDAR fusion
- **Dataset Scope**: Limited to PDM-Lite-CARLA scenarios

### Recommended Use Cases

- ✅ CARLA simulation environments
- ✅ Research and development
- ✅ Autonomous driving prototyping
- ❌ Real-world deployment (requires additional training)

## 🛠️ Integration

This model is designed to work with:

- **[Baseer Self-Driving API](https://huggingface.co/spaces/BaseerAI/Baseer_Server)** - Live demo and API
- **CARLA Simulator**
- **PyTorch Inference Pipeline**
- **Custom Autonomous Driving Systems**

## 📚 Citation

If you use this model in your research, please cite:

```bibtex
@misc{interfuser-baseer-v1,
  title={InterFuser-Baseer-v1: Fine-tuned Autonomous Driving Model},
  author={BaseerAI},
  year={2024},
  publisher={Hugging Face},
  howpublished={\url{https://huggingface.co/BaseerAI/Interfuser-Baseer-v1}}
}
```

## 👨‍💻 Development

**Developed by**: Adam Altawil
**Project Type**: Graduation Project - AI & Autonomous Driving  
**Institution**: [Your Institution Name]

## 📄 License

This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.

## 🤝 Contributing

Contributions, issues, and feature requests are welcome! Feel free to check the [issues page](../../issues).

## 📞 Support

For questions and support:
- Try the live demo: **[Baseer Server Space](https://huggingface.co/spaces/BaseerAI/Baseer_Server)**
- Create an issue in this repository
- Contact: [Your Contact Information]

---

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