Add model card and metadata

README.md

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----
-license: cc-by-4.0
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+---
+license: cc-by-nc-nd-4.0
+pipeline_tag: robotics
+---
+
+# TCP-Speed
+
+**TCP-Speed** is a baseline model for desired-speed conditioned autonomous driving, introduced as part of the **Bench2Drive-Speed** benchmark.
+
+[**Project Page**](https://thinklab-sjtu.github.io/Bench2Drive-Speed/) | [**Paper**](https://huggingface.co/papers/2603.25672) | [**Github**](https://github.com/Thinklab-SJTU/Bench2Drive-Speed)
+
+## Overview
+
+Bench2Drive-Speed is a closed-loop benchmark for desired-speed conditioned autonomous driving. It enables explicit control over vehicle behavior through:
+* 🎯 **Target-speed conditioning**: Users can specify the desired driving speed.
+* 🚘 **Overtake / Follow commands**: Users can specify whether the vehicle should overtake or follow others.
+
+The TCP-Speed model serves as a baseline that processes these user preferences to generate driving actions within the CARLA simulator.
+
+## Usage
+
+To use or build upon this agent, refer to the official [Bench2Drive-Speed repository](https://github.com/Thinklab-SJTU/Bench2Drive-Speed). 
+
+The agent inherits from `AutonomousAgent`. In addition to standard CARLA inputs, you can access the user-specified conditions within the agent logic as follows:
+
+```python
+# Extract target speed and overtake commands within the agent class
+target_speed = self.get_planned_speed() # float (km/h)
+do_overtake = self.do_overtake          # boolean
+```
+
+For full setup, training, and evaluation instructions, please follow the documentation in the [Github README](https://github.com/Thinklab-SJTU/Bench2Drive-Speed).
+
+## Citation
+
+```bibtex
+@article{Bench2DriveSpeed,
+    title={Can Users Specify Driving Speed? Bench2Drive-Speed: Benchmark and Baselines for Desired-Speed Conditioned Autonomous Driving}, 
+    author={Yuqian Shao and Xiaosong Jia and Langechuan Liu and Junchi Yan},
+    year={2026},
+    eprint={2603.25672},
+    archivePrefix={arXiv},
+    primaryClass={cs.RO},
+}
+```