TRAINING FIT / WINDBLOWN HAT
From prediction to perspective.
Inspect what changed. Same camera input, original DriveMA and the trained HAT model.
FROZEN CHECKPOINT12 epochs + 100 head epochsTraining fit · no validation split
Loading experiment…
PAIRED CAMERA INSPECTION
Loading observation…
Original DriveMA Stage 2 stopping rule Learned stop1–4 s forecast · click a camera to enlarge
Preparing camera views…
Plan view
Metres · ego frameDecision comparison
Observation evidence & raw model output ↗
THE COMPLETED RUN
Learning curves & provenance
Stage 1 · action + trajectory
Epoch mean loss · log scale · fixed 12-epoch checkpoint
Stage 2 · stopping point head
Training loss · log scale · fixed 100-epoch checkpoint