TransFuser uses the self-attention mechanism of the transformers for image and LiDAR feature fusion at multiple resolutions.
CUDA_VISIBLE_DEVICES=<gpu_id> python3 train.py --id transfuser --batch_size 56Update leaderboard/scripts/run_evaluation.sh to include the following.
export ROUTES=leaderboard/data/evaluation_routes/routes_town05_long.xml
export TEAM_AGENT=leaderboard/team_code/transfuser_agent.py
export TEAM_CONFIG=model_ckpt/transfuser
export CHECKPOINT_ENDPOINT=results/transfuser_result.json
export SCENARIOS=leaderboard/data/scenarios/town05_all_scenarios.json