SeerDrive (pdm_lite / Bench2Drive) -- D-23 GT-nearest
End-to-end driving model (NeurIPS-2025 SeerDrive) ported to CARLA pdm_lite / Bench2Drive
(geometric-path + speed-bin, BridgeDrive-style).
Checkpoint
seerdrive_ep50.pt -- model weights, epoch 50.
Regime (D-23)
- 256x256 ego-centered surround BEV (rear/side included).
- Rear/side cut-in threat reward folded into NC/TTC.
- GT-nearest speed-only sim_reward (
sim_train_im_shape=False): geometry is imitation;
reward supervises the speed head at the GT-nearest expert anchor.
- Frozen backbone: carla_garage TransFuser (regnety_032, all_towns,
model_0030_2.pth).
Training
- 8x A100 DDP, 50 epochs, effective batch 128, cosine LR 1e-4 -> ~1e-6.
Final validation (held-out routes)
| geo_ade | geo_fde | speed_acc | mIoU | mIoU_fut |
|---|
| 0.059 m | 0.116 m | 0.938 | 0.387 | 0.323 |
