---
license: apache-2.0
datasets:
- sergiopaniego/CarlaFollowLanePreviousV
---

# 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 |