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Release v1.4.0

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@ln2697 ln2697 released this 08 Aug 23:06
· 1 commit to main since this release
v1.4.0
ebf2435

Initial release with all artifacts for reproduction. Downloading checkpoints and dataset requires HuggingFace

pip install "huggingface-hub[hf_xet]"

Checkpoints

To download the checkpoints:

hf download ln2697/transfuser-carla-123d --revision 14549316007bfe30bbb354535b8b188a3850fd0d --local-dir checkpoints

Performance:

Benchmark This release Original paper
Bench2Drive (DS) 93.6 ± 1.0 94
Longest6 v2 (DS) 54.3 ± 4.4 57

Further notes:

  • Scores are the mean over 3 training seeds; Bench2Drive is evaluated once per seed, Longest6 v2 three times per seed (9 runs total). This is more evaluation compute than the paper's numbers received, so the scores here are the more reliable estimate.
  • Trained for 44 hours on 4 x H100 80GB. For reference: the paper's equivalent model trained for 67 hours on 4 x L40S.
  • This version was trained on CARLA 0.9.16, some changes to expert were required.
  • We only release 1 seed for in this version. The other two seeds will be released in v1.5.0.

Dataset

To download the dataset:

hf download ln2697/lead-123d --repo-type dataset --revision 36d36c020a8838c531999105e65d8a84a33c676f --local-dir data/lead/123D

Further notes:

  • The dataset was generated in around one day on a cluster of 64 x GTX 1080ti.
  • We used CARLA 0.9.16 to generate the data.
Assets 2
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