---
license: apache-2.0
---

# TFv6 NavSim

Autonomous driving planning model (TransFuser-based). Predicts waypoints and headings.

## Usage

```bash
pip install torch timm numpy opencv-python jaxtyping beartype omegaconf huggingface_hub
```
## Input/Output

**Input:**
- RGB: (256, 1920, 3), range [0, 255]
- Command: [left, straight, right, unknown], e.g. [0, 1, 0, 0] for straight
- Speed: m/s
- Acceleration: m/s²

**Output:**
- `waypoints`: (N, 2) predicted positions
- `headings`: (N,) predicted angles

## Details

- Architecture: TransFuser
- Dataset: NavSim (4 cameras)
- Checkpoint: Epoch 60