---
license: mit
---

# 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