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MemoryPilotNet

These models contain end-to-end imitation learning-based models for control of an autonomous ego vehicle in CARLA simulator.

  • GPU: NVIDIA GeForce 3090
  • CUDA: 11.6
  • Driver version: 510.54
  • Input shape (150,50,3)/(200,66,3)

Tensorflow

  • Tensorflow version: 2.7.0 / 2.11.0
Model name Visual memory Kinematic input MAE test MSE test Model size (MB) Filename Previous filename
PilotNet* βœ— βœ— 0.0507 0.0177 20 pilotnet_no_visual_no_kinematic.h5 20230125-120238_pilotnet_CARLA_14_12_dataset_bird_eye_300_epochs_no_flip_3_output_both_directions_all_towns_adam_AFFINE_PAPER.h5
PilotNet* βœ— βœ“ 0.0295 0.0082 20 pilotnet_no_visual_kinematic.h5 20230127-180655_pilotnet_CARLA_17_10_dataset_bird_eye_300_epochs_no_flip_3_output_velocity_all_towns_vel_30_AFFINE.h5
DeepestLSTMTinyPilotNet* βœ“ βœ— 0.0332 0.0086 2 deepestLSTMtinypilotnet_no_visual_no_kinematic.h5 20230126-183457_deepestLSTMTinyPilotNet_CARLA_14_12_dataset_bird_eye_400_epochs_no_flip_3_output_both_directions_all_towns__less_learning_rate_PAPER_cp.h5
DeepestLSTMTinyPilotNet* βœ“ βœ“ 0.0074 0.0079 2 deepestLSTMtinypilotnet_no_visual_kinematic.h5 20230127-180856_deepestLSTMTinyPilotNet_CARLA_17_10_dataset_bird_eye_300_epochs_no_flip_3_output_velocity_all_towns_vel_30_AFFINE_PAPER.h5
PilotNetx3* (Conv3D) βœ“ βœ— 0.0456 0.0094 127 pilotnet_conv3d_visual_no_kinematic.h5 20230222-110851_memDCCP_small_LSTM_2_CARLA_14_12_dataset_bird_eye_300_epochs_no_flip_3_output_both_directions_all_towns_sequences_more_more_extreme_AFFINE_PAPER_cp.h5
PilotNetx3* (Conv3D) βœ“ βœ“ 0.0069 0.0086 127 pilotnet_conv3d_visual_kinematic.h5 20230221-175351_memDCCP_small_CARLA_14_12_dataset_bird_eye_300_epochs_no_flip_3_output_velocity_both_directions_all_towns_sequences_more_extreme_previous_V_AFFINE_PAPER_cp.h5
PilotNetx3* (TimeDistributed) βœ“ βœ— 0.0662 0.0196 16 pilotnet_time_distributed_visual_no_kinematic.h5 20230220-105422_pilotnet_small_more_more_LSTM_x3_CARLA_14_12_dataset_bird_eye_300_epochs_no_flip_3_output_both_directions_all_towns_sequences_more_more_extreme_t_5_t_10_dataset_AFFINE_PAPER_cp.h5
PilotNetx3* (TimeDistributed) βœ“ βœ“ 0.0289 0.0077 16 pilotnet_time_distributed_visual_kinematic.h5 20230221-162112_pilotnet_x3_small_CARLA_14_12_dataset_bird_eye_300_epochs_no_flip_3_output_velocity_both_directions_all_towns_sequences_more_extreme_previous_V_AFFINE_PAPER_cp.h5

visual_memory_density models

Model name Visual memory Kinematic input MAE test MSE test Model size (MB) Filename
PilotNetx3* t, t-1, t-2 (Conv3D) βœ“ βœ— 0.036 0.0107 127 pilotnet_conv3d_visual_no_kinematic_t_t_1_t_2.h5
PilotNetx3* t, t-10, t-20 (Conv3D) βœ“ βœ— 0.027 0.0074 127 pilotnet_conv3d_visual_no_kinematic_t_t_10_t_20.h5
PilotNetx3* t, t-20, t-40 (Conv3D) βœ“ βœ— 0.024 0.0060 127 pilotnet_conv3d_visual_no_kinematic_t_t_20_t_40.h5
PilotNetx3* t, t-1, t-2 (TimeDistributed) βœ“ βœ— 0.030 0.0073 16 pilotnet_time_distributed_visual_no_kinematic_t_t_1_t_2.h5
PilotNetx3* t, t-10, t-20 (TimeDistributed) βœ“ βœ— 0.035 0.0105 16 pilotnet_time_distributed_visual_no_kinematic_t_t_10_t_20.h5
PilotNetx3* t, t-20, t-40 (TimeDistributed) βœ“ βœ— 0.032 0.0090 16 pilotnet_time_distributed_visual_no_kinematic_t_t_20_t_40.h5

visual_memory_length models

Model name Visual memory Kinematic input MAE test MSE test Model size (MB) Filename
PilotNetx3* 5 frames (Conv3D) βœ“ βœ— 0.022 0.0062 127 pilotnet_conv3d_visual_no_kinematic_5_frames.h5
PilotNetx3* 9 frames (Conv3D) βœ“ βœ— 0.015 0.0040 246 pilotnet_conv3d_visual_no_kinematic_9_frames.h5
PilotNetx3* 5 frames (TimeDistributed) βœ“ βœ— 0.026 0.0062 16 pilotnet_time_distributed_visual_no_kinematic_5_frames.h5
PilotNetx3* 9 frames (TimeDistributed) βœ“ βœ— 0.020 0.0042 16 pilotnet_time_distributed_visual_no_kinematic_9_frames.h5
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Dataset used to train sergiopaniego/MemoryPilotNet