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license: apache-2.0 |
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datasets: |
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- sergiopaniego/CarlaFollowLanePreviousV |
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# MemoryPilotNet |
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These models contain end-to-end imitation learning-based models for control of an autonomous ego vehicle in CARLA simulator. |
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* GPU: NVIDIA GeForce 3090 |
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* CUDA: 11.6 |
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* Driver version: 510.54 |
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* Input shape (150,50,3)/(200,66,3) |
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# Tensorflow |
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* Tensorflow version: 2.7.0 / 2.11.0 |
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| Model name | Visual memory | Kinematic input | MAE test | MSE test | Model size (MB) | Filename | Previous filename | |
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| ------------------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | --------------------------------- | |
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| PilotNet* | ✗ | ✗ | 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 | |
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| PilotNet* | ✗ | ✓ | 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 | |
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| DeepestLSTMTinyPilotNet* | ✓ | ✗ | 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 | |
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| DeepestLSTMTinyPilotNet* | ✓ | ✓ | 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 | |
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| PilotNetx3* (Conv3D) | ✓ | ✗ | 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 | |
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| PilotNetx3* (Conv3D) | ✓ | ✓ | 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 | |
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| PilotNetx3* (TimeDistributed) | ✓ | ✗ | 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 | |
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| PilotNetx3* (TimeDistributed) | ✓ | ✓ | 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 | |
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## visual_memory_density models |
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| Model name | Visual memory | Kinematic input | MAE test | MSE test | Model size (MB) | Filename | |
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| ------------------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | |
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| PilotNetx3* t, t-1, t-2 (Conv3D) | ✓ | ✗ | 0.036 | 0.0107 | 127 | pilotnet_conv3d_visual_no_kinematic_t_t_1_t_2.h5 | |
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| PilotNetx3* t, t-10, t-20 (Conv3D) | ✓ | ✗ | 0.027 | 0.0074 | 127 | pilotnet_conv3d_visual_no_kinematic_t_t_10_t_20.h5 | |
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| PilotNetx3* t, t-20, t-40 (Conv3D) | ✓ | ✗ | 0.024 | 0.0060 | 127 | pilotnet_conv3d_visual_no_kinematic_t_t_20_t_40.h5 | |
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| PilotNetx3* t, t-1, t-2 (TimeDistributed) | ✓ | ✗ | 0.030 | 0.0073 | 16 | pilotnet_time_distributed_visual_no_kinematic_t_t_1_t_2.h5 | |
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| PilotNetx3* t, t-10, t-20 (TimeDistributed) | ✓ | ✗ | 0.035 | 0.0105 | 16 | pilotnet_time_distributed_visual_no_kinematic_t_t_10_t_20.h5 | |
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| PilotNetx3* t, t-20, t-40 (TimeDistributed) | ✓ | ✗ | 0.032 | 0.0090 | 16 | pilotnet_time_distributed_visual_no_kinematic_t_t_20_t_40.h5 | |
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## visual_memory_length models |
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| Model name | Visual memory | Kinematic input | MAE test | MSE test | Model size (MB) | Filename | |
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| ------------------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | |
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| PilotNetx3* 5 frames (Conv3D) | ✓ | ✗ | 0.022 | 0.0062 | 127 | pilotnet_conv3d_visual_no_kinematic_5_frames.h5 | |
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| PilotNetx3* 9 frames (Conv3D) | ✓ | ✗ | 0.015 | 0.0040 | 246 | pilotnet_conv3d_visual_no_kinematic_9_frames.h5 | |
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| PilotNetx3* 5 frames (TimeDistributed) | ✓ | ✗ | 0.026 | 0.0062 | 16 | pilotnet_time_distributed_visual_no_kinematic_5_frames.h5 | |
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| PilotNetx3* 9 frames (TimeDistributed) | ✓ | ✗ | 0.020 | 0.0042 | 16 | pilotnet_time_distributed_visual_no_kinematic_9_frames.h5 | |
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