---
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}
}
```