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* |
✗ |
✗ |
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* |
✗ |
✓ |
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* |
✓ |
✗ |
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* |
✓ |
✓ |
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) |
✓ |
✗ |
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) |
✓ |
✓ |
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) |
✓ |
✗ |
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) |
✓ |
✓ |
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) |
✓ |
✗ |
0.036 |
0.0107 |
127 |
pilotnet_conv3d_visual_no_kinematic_t_t_1_t_2.h5 |
| PilotNetx3* t, t-10, t-20 (Conv3D) |
✓ |
✗ |
0.027 |
0.0074 |
127 |
pilotnet_conv3d_visual_no_kinematic_t_t_10_t_20.h5 |
| PilotNetx3* t, t-20, t-40 (Conv3D) |
✓ |
✗ |
0.024 |
0.0060 |
127 |
pilotnet_conv3d_visual_no_kinematic_t_t_20_t_40.h5 |
| PilotNetx3* t, t-1, t-2 (TimeDistributed) |
✓ |
✗ |
0.030 |
0.0073 |
16 |
pilotnet_time_distributed_visual_no_kinematic_t_t_1_t_2.h5 |
| PilotNetx3* t, t-10, t-20 (TimeDistributed) |
✓ |
✗ |
0.035 |
0.0105 |
16 |
pilotnet_time_distributed_visual_no_kinematic_t_t_10_t_20.h5 |
| PilotNetx3* t, t-20, t-40 (TimeDistributed) |
✓ |
✗ |
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) |
✓ |
✗ |
0.022 |
0.0062 |
127 |
pilotnet_conv3d_visual_no_kinematic_5_frames.h5 |
| PilotNetx3* 9 frames (Conv3D) |
✓ |
✗ |
0.015 |
0.0040 |
246 |
pilotnet_conv3d_visual_no_kinematic_9_frames.h5 |
| PilotNetx3* 5 frames (TimeDistributed) |
✓ |
✗ |
0.026 |
0.0062 |
16 |
pilotnet_time_distributed_visual_no_kinematic_5_frames.h5 |
| PilotNetx3* 9 frames (TimeDistributed) |
✓ |
✗ |
0.020 |
0.0042 |
16 |
pilotnet_time_distributed_visual_no_kinematic_9_frames.h5 |
