ZhidongWang/seerdrive-pdm-lite

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 simreward (`simtrainimshape=False`): geometry is imitation; reward supervises the speed head at the GT-nearest expert anchor.
• —Frozen backbone: carlagarage TransFuser (regnety032, alltowns, `model0030_2.pth`).

Training

• —8x A100 DDP, 50 epochs, effective batch 128, cosine LR 1e-4 -> ~1e-6.

Final validation (held-out routes)