---
license: mit
library_name: pytorch
tags:
  - autonomous-driving
  - end-to-end
  - imitation-learning
  - self-driving
  - udacity
  - vision
  - transformer
  - vit
  - attention
datasets:
  - maxim-igenbergs/thesis-data
---
# ViT End-to-End Driving Model
Vision Transformer (ViT) adapted for end-to-end autonomous driving, 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
This model applies the Vision Transformer architecture to the end-to-end driving task. Instead of using convolutional layers, ViT splits the input image into patches and processes them using self-attention mechanisms, allowing the model to capture global dependencies in the visual input.
### Architecture
```
Input: RGB Image (224 × 224 × 3)
    ↓
Patch Embedding (16 × 16 patches)
    ↓
[CLS] Token + Positional Embedding
    ↓
Transformer Encoder Blocks (×L):
  - Multi-Head Self-Attention
  - Layer Normalization
  - MLP (Feed-Forward)
  - Layer Normalization
    ↓
[CLS] Token Output
    ↓
MLP Head
    ↓
Output: [steering, throttle]
```
## Checkpoints
| Map | Checkpoint |
|-----|------------|
| GenRoads | `genroads_20251202-152358/` |
| Jungle | `jungle_20251201-132938/` |
### Files per Checkpoint
- `best_model.ckpt`: PyTorch model checkpoint
- `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 Driving Model](https://huggingface.co/maxim-igenbergs/dave2)
- [DAVE-2-GRU Driving Model](https://huggingface.co/maxim-igenbergs/dave2-gru)
- [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)