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README.md

@@ -1,3 +1,98 @@
----
-license: mit
----
+---
+license: mit
+tags:
+  - autonomous-driving
+  - carla
+  - yolo
+  - lane-detection
+  - ufld
+  - pytorch
+  - computer-vision
+  - self-driving-car
+datasets:
+  - custom
+language:
+  - en
+---
+
+# Autonomous Driving CARLA Models
+
+Pre-trained models for autonomous driving in the CARLA 0.9.15 simulator.
+
+## Models
+
+| Model | File | Size | Description |
+|-------|------|------|-------------|
+| YOLO11n | `yolo_carla_best.pt` | ~6MB | Object detection (vehicles, pedestrians, traffic lights, speed signs) |
+| UFLD | `ufld_carla_best.pth` | ~735MB | Lane detection fine-tuned on CARLA |
+| TuSimple | `tusimple_18.pth` | ~245MB | Pre-trained lane detection backbone |
+
+## YOLO11n Object Detection
+
+Custom-trained on CARLA simulator data.
+
+**Classes:**
+- 0: Vehicle
+- 1: Pedestrian  
+- 2: Traffic Light
+- 3: Speed Limit Sign
+
+**Training:**
+- Epochs: 250
+- Batch Size: 128
+- Optimizer: AdamW
+- Learning Rate: 0.005
+- Image Size: 640×640
+
+![YOLO Results](yolo_training_results.png)
+![Confusion Matrix](yolo_confusion_matrix.png)
+
+## UFLD Lane Detection
+
+Fine-tuned Ultra Fast Lane Detection model.
+
+**Architecture:**
+- Backbone: ResNet-18
+- Grid: 100×56
+- Input: 800×288
+
+**Training:**
+- Epochs: 50
+- Batch Size: 32
+- Optimizer: Adam
+- Learning Rate: 1e-4
+- Loss: SoftmaxFocalLoss + ParsingRelationLoss
+
+![UFLD Loss Curve](ufld_loss_curve.png)
+
+## Usage
+
+```python
+from huggingface_hub import hf_hub_download
+
+# Download YOLO model
+yolo_path = hf_hub_download(
+    repo_id="jkdxbns/autonomous-driving-carla",
+    filename="yolo_carla_best.pt"
+)
+
+# Download UFLD model
+ufld_path = hf_hub_download(
+    repo_id="jkdxbns/autonomous-driving-carla",
+    filename="ufld_carla_best.pth"
+)
+```
+
+## GitHub Repository
+
+Full source code: [github.com/jkdxbns/autonomous-driving-carla](https://github.com/jkdxbns/autonomous-driving-carla)
+
+## Author
+
+**Justin Mascarenhas**  
+CMPE 789 - Robot Perception  
+Rochester Institute of Technology
+
+## License
+
+MIT License