| --- |
| language: |
| - en |
| library_name: pytorch |
| license: cc-by-4.0 |
| model_name: TransFuser++ (TFv5) CARLA Garage Checkpoints |
| pipeline_tag: robotics |
| tags: |
| - carla |
| - carla-simulator |
| - autonomous-driving |
| - imitation-learning |
| - end-to-end-driving |
| - carla-leaderboard |
| - transfuser |
| - transfuser++ |
| --- |
| |
| # TransFuser++ (TFv5) CARLA Garage Checkpoints |
|
|
| This repository contains pretrained checkpoints for the TransFuser++ (TFv5) model, which serves as a baseline for the **Fail2Drive** benchmark. |
|
|
| [**Fail2Drive: Benchmarking Closed-Loop Driving Generalization**](https://huggingface.co/papers/2604.08535) |
|
|
| [**Project Page**](https://simonger.github.io/fail2drive/) | [**Code**](https://github.com/autonomousvision/fail2drive) |
|
|
| ## Introduction |
|
|
| Fail2Drive is a paired-route benchmark for closed-loop generalization in CARLA, featuring 200 routes and 17 new scenario classes. It highlights failure modes in state-of-the-art models when facing distribution shifts in appearance, layout, behavior, and robustness. TransFuser++ is an end-to-end autonomous driving agent that utilizes both LiDAR and camera inputs. |
|
|
| ## Sample Usage |
|
|
| To run the TransFuser++ model within the Fail2Drive environment, follow the installation instructions in the [official repository](https://github.com/autonomousvision/fail2drive). |
|
|
| Once the environment and simulator are set up, you can evaluate the agent using the following command: |
|
|
| ```bash |
| LIVE_VISU=1 python leaderboard/leaderboard/leaderboard_evaluator_local.py \ |
| --routes ${WORK_DIR}/fail2drive_split/Generalization_PedestriansOnRoad_1085.xml \ |
| --agent ${WORK_DIR}/team_code/sensor_agent.py \ |
| --agent-config /path/to/checkpoint_folder |
| ``` |
|
|
| *Note: The `--agent-config` parameter should point to the directory containing both `model.pth` and `config.json`.* |
|
|
| ## Attribution |
|
|
| This repository re-uploads the pretrained checkpoints originally released by the [CARLA Garage](https://github.com/autonomousvision/carla_garage) project. All credit and attribution belong to the original authors. |
|
|
| Original source: [CARLA Garage Models](https://s3.eu-central-1.amazonaws.com/avg-projects-2/garage_2/models/pretrained_models.zip) |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{ger2024fail2drive, |
| title={Fail2Drive: Benchmarking Closed-Loop Driving Generalization}, |
| author={Ger, Simon and others}, |
| journal={arXiv preprint arXiv:2604.08535}, |
| year={2024} |
| } |
| ``` |
