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license: apache-2.0 |
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--- |
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# TFv6 NavSim |
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Autonomous driving planning model (TransFuser-based). Predicts waypoints and headings. |
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## Usage |
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```bash |
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pip install torch timm numpy opencv-python jaxtyping beartype omegaconf huggingface_hub |
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``` |
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## Input/Output |
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**Input:** |
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- RGB: (256, 1920, 3), range [0, 255] |
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- Command: [left, straight, right, unknown], e.g. [0, 1, 0, 0] for straight |
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- Speed: m/s |
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- Acceleration: m/s² |
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**Output:** |
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- `waypoints`: (N, 2) predicted positions |
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- `headings`: (N,) predicted angles |
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## Details |
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- Architecture: TransFuser |
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- Dataset: NavSim (4 cameras) |
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- Checkpoint: Epoch 60 |
