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license: mit
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# Temporal TransFuser++
## About
This repo contains the model weights for adapted temporal versions of the TransFuser++ model by Jaeger et. al. 2023.
These models were trained as part of a master's thesis titeled "*Temporal Fusion in Imitation-Based End-to-End Autonomous Driving*" at the Norwegian University of Science and Technology (NTNU). The thesis will be linked when it becomes available.
All model weights and checkpoint states can be found under "[Files and versions](https://huggingface.co/andreas122001/temporal_tfpp/tree/main)".
## Results on Bench2Drive
| Experiment | Overall || Multi-ability metrics ||||||
|---|---|---|---|---|---|---|---|---|
| | DS | SR | Merge | Overtake |Emergency Brake| Give Way| Traffic Sign| Mean |
|static-8x1 | 81.68 | 62.27 | 57.92 | 44.44 | 76.67 | 46.67 | 78.42 | 60.82 |
|static-8x2 | **83.22** | **64.24** | **59.68** | 45.19 | 81.11 | **50.00** | 79.65 | 63.13 |
|lidar-4x1 | 63.58 | 36.52 | 33.07 | 20.00 | 35.00 | 46.67 | 67.54 | 40.46 |
|full-4x1 | 79.78 | 56.06 | 47.08 | 41.48 | 71.67 | **50.00** | 76.84 | 57.41 |
|static-4x1 | 81.25 | 60.45 | 50.63 | 46.67 | 80.00 | **50.00** | 77.19 | 60.90 |
|notraj-4x1 | 81.14 | 60.45 | 54.62 | 45.19 | 77.22 | **50.00** | 74.56 | 60.32 |
|noprune-4x1 | 82.80 | 63.79 | 54.20 | **49.63** | **83.79** | **50.00** | 80.00 | **63.52** |
|large-4x1 | 82.22 | 63.03 | 58.33 | 40.74 | 80.00 | **50.00** | **81.75** | 62.17 |
|Default TF++ | 80.87 | 62.58 | 58.33 | 42.22 | 74.44 | 46.67 | 80.88 | 60.51 |
DS = driving score
SR = success rate
Multi-ability metrics are defined by Bench2Drive [\[ArXiv\]](https://arxiv.org/abs/2406.03877).
## Credits
- [CARLA Garage repository](https://github.com/autonomousvision/carla_garage) by Jaeger et. al.
- [Hidden Biases of End-to-End Driving Models](https://arxiv.org/abs/2306.07957) by Jeager et. al. 2023
- [Hidden Biases of End-to-End Driving Datasets](https://arxiv.org/abs/2412.09602) by Zimmerlin et. al. 2024
- [Bench2Drive](https://arxiv.org/abs/2406.03877) by Jia et. al. 2024
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