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

# OptimizedPilotNet

These models contain a PilotNet baseline model for end-to-end control of an autonomous ego vehicle in CARLA and its optimized versions for both PyTorch and Tensorflow.

* GPU: NVIDIA GeForce 3090
* CUDA: 11.6
* Driver version: 510.54
* Input shape (200,66,3)

# Tensorflow

* Tensorflow version: 2.7.0 / 2.11.0
* TensorRT version: 7.2.2.1
* Docker image: nvcr.io/nvidia/tensorflow:20.12-tf2-py3
* nvidia-tensorrt: 7.2.2.1

| Optimization                      | Model size   (MB)             |        MSE             | Inference time  (s/frame)       | Filename                          |
| --------------------------------- | ----------------------   | ---------------------- | ---------------------- | --------------------------------- |
| Original                          |  19     | 0.018   | 0.022  | pilotnet.h5 |
| Baseline                          |  6.0925140380859375      | 0.010881431312199034   | 0.0016004319190979005  | pilotnet_model.tflite       |
| Dynamic Range Quantization        |  1.5377578735351562      | 0.010803998294344926   | 0.0008851253986358643  | pilotnet_dynamic_quant.tflite       |
| Integer Quantization        |  1.5389328002929688      | 0.01102226436099348   | 0.0008868560791015625  | pilotnet_int_quant.tflite       |
| Integer (float fallback) Quantization        |  1.5389175415039062      | 0.0008868560791015625    | 0.0008031470775604248  | pilotnet_intflt_quant.tflite       |
| Float16 Quantization        |  3.0508956909179688      | 0.010804510797606127   | 0.0013616561889648437  | pilotnet_float16_quant.tflite       |
| Quantization Aware Training        |  1.5446319580078125     | 0.0115418379596583   | 0.0008456888198852539  | pilotnet_quant_aware.tflite       |
| (random sparse) Weight pruning        |  6.0925140380859375     | 0.011697137610230973   | 0.0016570956707000733  | pilotnet_pruned.tflite       |
| (random sparse) Weight pruning Quantization        |  1.536590576171875     | 0.011635421636510991   | 0.0012711701393127441  | pilotnet_pruned_quan.tflite       |
| Cluster preserving Quantization Aware       |  1.5446319580078125     | 0.010546523951115492   | 0.0008221814632415771  | pilotnet_cqat_model.tflite       |
| Pruning preserving Quantization Aware       |  1.5446319580078125     | 0.010758002372154884   | 0.0008252830505371093  | pilotnet_pqat_model.tflite       |
| Sparsity and cluster preserving quantization aware training (PCQAT)       |  1.5446319580078125     | 0.008262857163545972   | 0.0008286898136138916  | pilotnet_pcqat_model.tflite       |

TensorRT-Tensorflow:

To do inference:

```
  pip install nvidia-tensorrt===7.2.2.1
  python3 -c "import tensorrt; print(tensorrt.__version__); assert tensorrt.Builder(tensorrt.Logger())"
  export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$CONDA_PREFIX/lib/python3.8/site-packages/tensorrt
  python3 -c "import tensorflow as tf; print(tf.config.list_physical_devices('GPU'))"
```


| Optimization                      | Model size   (MB)             |        MSE             | Inference time  (s/frame)       | Folder                          |
| --------------------------------- | ----------------------   | ---------------------- | ---------------------- | --------------------------------- |
| Float32 Quantization                          |  0.00390625      | 0.010798301750717706   | 0.00038761067390441896  | pilotnet_tftrt_fp32       |
| Float16 Quantization                          |  0.00390625      | 0.010798278900279191   | 0.00042218327522277834  | pilotnet_tftrt_fp16       |
| Int8 Quantization                          |  0.00390625      | 0.04791482252948612   | 0.0003384373188018799  | pilotnet_tftrt_int8       |

---

# PyTorch


* PyTorch version: 1.13.1+cu116
* TensorRT version: 8.5.5
* Docker image: nvcr.io/nvidia/pytorch:22.12-py3
* torch-tensorrt: 1.3.0


| Optimization                      | Model size   (MB)             |        MSE             | Inference time  (s/frame)       | Filename                          |
| --------------------------------- | ----------------------   | ---------------------- | ---------------------- | --------------------------------- |
| Original                        |  6.1217                      | 0.03524                    | -                      | pilotnet_model.pth |
| Dynamic Range Quantization      |  1.9493608474731445      | 0.012065857842182075   | 0.001480283498764038  | 24_05_dynamic_quan.pth      |
| Static Quantization      |  1.6071176528930664      | 0.012072610909984047   | 0.0007314345836639404  | 24_05_static_quan.pth      |
| Quantization Aware Training      |  1.6069536209106445      | 0.01109830549109022   | 0.0011710402965545653  | 24_05_quan_aware .pth      |
| Local Prune      |  6.122584342956543      | 0.010850968803449539   | 0.0014387350082397461  | 24_05_local_prune.pth      |
| Global Prune      |  6.122775077819824      | 0.010964057565769462   | 0.0014179635047912597  | 24_05_global_prune.pth      |
| Prune + Quantization      |  1.6067094802856445      | 0.010949893930274941   | 0.0011728739738464356  | 24_05_prune_quan.pth      |

TensorRT-PyTorch:

To do inference:

```
  pip install torch-tensorrt==1.3.0
```

| Optimization                      | Model size   (MB)             |        MSE             | Inference time  (s/frame)       | Filename                          |
| --------------------------------- | ----------------------   | ---------------------- | ---------------------- | --------------------------------- |
| Float32 Quantization          |  6.121363639831543     | 0.009570527376262128       | 0.0002284455299377441        | trt_mod_float32.jit.pt      |
| Float16 Quantization          |  6.121363639831543    | 0.009571507916721152    | 0.000250823974609375        | trt_mod_float16.jit.pt      |
| Int8 Quantization          |  6.181861877441406           | 0.00969304293365875         | 0.0002463934421539307       | trt_mod_int8.jit.pt      |