Update README.md

README.md

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+[---
 license: mit
 pipeline_tag: robotics
 tags:
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 [**Project Page**](https://ln2697.github.io/lead) | [**Paper**](https://huggingface.co/papers/2512.20563) | [**Code**](https://github.com/autonomousvision/lead)
 
-Official model weights for **LEAD** and **TransFuser v6 (TFv6)**, an expert-student policy pair for autonomous driving research in the CARLA simulator. 
-
-LEAD addresses the misalignment between privileged expert demonstrations and sensor-based student observations in imitation learning. By narrowing these asymmetries, the TFv6 student policy achieves state-of-the-art performance on major CARLA closed-loop benchmarks.
-
-## Main Features
+Official model weights for **TransFuser v6 (TFv6)**, a state-of-the-art driving policy on Bench2Drive. 
 
-- **Lean pipeline**: Pure PyTorch implementation with minimal dependencies.
-- **Cross-dataset training**: Support for NAVSIM and Waymo datasets, with optional co-training on synthetic CARLA data.
-- **Data-centric infrastructure**: Enforced tensor typing with BearType/JaxTyping and extensive visualizations for debugging.
-- **State-of-the-Art Performance**: TFv6 reaches 95 DS on Bench2Drive and significantly outperforms prior models on Longest6 v2 and Town13.
+> We release the complete pipeline (covering scenario descriptions, expert driver, data preprocessing scripts, training code, and evaluation infrastructure) required to achieve **state-of-the-art closed-loop performance on the Bench2Drive** benchmark. Built around the CARLA simulator, the stack features a data-centric design with:
+> 
+> - Extensive visualization suite and runtime type validation for easier debugging.
+> - Optimized storage format, packs 72 hours of driving in ~200GB.
+> - Native support for NAVSIM and Waymo Vision-based E2E, with LEAD extending these benchmarks through closed-loop simulation and synthetic data for additional supervision during training
 
-## Evaluation Results (Bench2Drive)
-
-| Method | Driving Score (DS) | Success Rate (SR) |
-|---|---|---|
-| TF++ (TFv5) | 84.21 | 67.27 |
-| **TFv6 (Ours)** | **95.28** | **86.80** |
+Find more information on [https://github.com/autonomousvision/lead](https://github.com/autonomousvision/lead).
 
 ## Usage
 
 For setup instructions, data collection, and evaluation scripts, please refer to the [official GitHub repository](https://github.com/autonomousvision/lead) and the [full documentation](https://ln2697.github.io/lead/docs).
 
-Example evaluation command:
-```bash
-bash scripts/start_carla.sh # Start CARLA server
-bash scripts/eval_bench2drive.sh # Evaluate one Bench2Drive route
-```
-
 ## Citation
 
 If you find this work useful, please cite:
@@ -55,4 +41,4 @@ If you find this work useful, please cite:
 
 ## License
 
-This project is released under the [MIT License](LICENSE).
+This project is released under the [MIT License](LICENSE).](https://huggingface.co/ln2697/tfv6_navsim/edit/main/README.md)