---
license: mit
library_name: keras
tags:
  - autonomous-driving
  - end-to-end
  - imitation-learning
  - self-driving
  - udacity
  - vision
  - cnn
  - dave2
  - nvidia
datasets:
  - maxim-igenbergs/thesis-data
---
# DAVE-2 End-to-End Driving Model
Implementation of NVIDIA's DAVE-2 architecture trained on the Udacity self-driving car simulator for the bachelor's thesis: Dual-Axis Testing of Visual Robustness and Topological Generalization in Vision-based End-to-End Driving Models.
## Model Description
DAVE-2 is the original end-to-end driving architecture proposed by NVIDIA in 2016. It learns to map raw camera images directly to steering and throttle commands through imitation learning.
### Architecture
```
Input: RGB Image (66 × 200 × 3)
    ↓
Conv2D(24, 5×5, stride=2) + ELU
Conv2D(36, 5×5, stride=2) + ELU
Conv2D(48, 5×5, stride=2) + ELU
Conv2D(64, 3×3) + ELU
Conv2D(64, 3×3) + ELU
    ↓
Flatten
    ↓
Dense(1164) + ELU
Dense(100) + ELU
Dense(50) + ELU
Dense(10) + ELU
    ↓
Output: [steering, throttle]
```
## Checkpoints
| Map | Checkpoint |
|-----|------------|
| GenRoads | `genroads_20251028-145557/` |
| Jungle | `jungle_20251209-175046/` |
### Files per Checkpoint
- `best_model.h5`: Keras model weights
- `meta.json`: Training configuration and hyperparameters
- `history.csv`: Training/validation metrics per epoch
- `loss_curve.png`: Visualization of training progress
## Citation
```bibtex
@thesis{igenbergs2026dualaxis,
  title={Dual-Axis Testing of Visual Robustness and Topological Generalization in Vision-based End-to-End Driving Models},
  author={Igenbergs, Maxim},
  school={Technical University of Munich},
  year={2026},
  type={Bachelor's Thesis}
}
```
## Related
- [DAVE-2-GRU Driving Model](https://huggingface.co/maxim-igenbergs/dave2-gru)
- [ViT Driving Model](https://huggingface.co/maxim-igenbergs/vit)
- [TCP Driving Model](https://huggingface.co/maxim-igenbergs/tcp-carla-repro)
- [Training Data](https://huggingface.co/datasets/maxim-igenbergs/thesis-data)
- [Evaluation Runs](https://huggingface.co/datasets/maxim-igenbergs/thesis-runs)