Model Zoo
SidewalkPilot has 52 evaluated checkpoints across four series. The live selector currently contains 46 versions through Series 4.0; the six Series 4.1 models are trained and offline-evaluated but not yet integrated. Version numbers identify experiments, not guaranteed improvements.
Families
| Series | Image input | Output design | Parameters | Current role |
|---|---|---|---|---|
| 1 | 200x66 |
direct steering regression | 672,877 | original camera-steering proof |
| 2 | 200x66 |
refined direct regression; CLAHE in 2.0/2.0b | 672,877 | historical comparison family |
| 3.0 | 320x180 |
steering/throttle regression | about 5.53M | first large Jetson Orin Nano architecture |
| 3.1-3.4 | 320x180 |
9 classes + 9 offsets + throttle | 5,534,115 | field-tested family; v3.4 selected |
| 4.0 PC | 320x180 + 3 targets |
one 18-value steering horizon | 5,569,186 | rejected after steering echo in field testing |
| 4.0 CF | 320x180 |
four 18-value steering horizons | 5,537,560 | 4.0f viable; complementary to v3.4 |
| 4.0 PCF | 320x180 + 3 targets |
four 18-value steering horizons | 5,572,696 | rejected after steering echo in field testing |
| 4.1 PC | 320x180 + 3 targets |
corrected history training; one horizon | 5,537,460 | trained and offline-evaluated; integration pending |
| 4.1 CF | 320x180 |
corrected future-target loss; four horizons | 5,537,560 | trained and offline-evaluated; integration pending |
| 4.1 PCF | 320x180 + 3 targets |
corrected history/future training; four horizons | 5,544,480 | trained and offline-evaluated; integration pending |
Field and Research State
Regular v3.4 is the current field-selected model. It won the July 13, 2026 comparison across every shadow case presented and the tested normal left and right turns.
Series 4.0 was field-tested. 4.0f was viable and traded two passed/failed cases with v3.4, but it did not establish a clear promotion case. 4.0p/r/a/c repeated prior steering predictions and were rejected. Series 4.1 was trained to address that failure and still needs runtime integration and physical testing.
Paired Checkpoints
Series 1-3 use a numeric model and a b checkpoint. Series 4 uses contract-specific letters:
| Run | Final epoch | Validation-selected |
|---|---|---|
| 4.0 PC | 4.0p |
4.0r |
| 4.0 CF | 4.0f |
4.0g |
| 4.0 PCF | 4.0a |
4.0c |
| 4.1 PC | 4.1p |
4.1r |
| 4.1 CF | 4.1f |
4.1g |
| 4.1 PCF | 4.1a |
4.1c |
For Series 3 and 4.0, validation selection primarily follows steering or current-target MAE. Series 4.1 PC/PCF also include closed-loop rollout error in checkpoint selection. Series 1/2 used validation loss. No rule makes the alternate model field-best.
Regular model files preserve the final requested epoch. Their paired b/r/g/c models
preserve the epoch selected by that trainer's validation objective. Both are retained so
validation behavior can be compared with field behavior. The suffix records provenance,
not superiority. A release must keep version, filename, model card, architecture contract,
and model hash aligned; the field-selected default changes only after a recorded drive.
Selection Evidence
Aggregate MAE is secondary because the challenge set is straight-heavy. Review Bal9, turn exact, turn within one class, straight exact, signed error, confusion behavior, and a fixed field route together.