---
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)

# Tensorflow

* Tensorflow version: 2.7.0 / 2.11.0

| Model name                      | Visual memory | Kinematic memory | MAE test | MSE test | Model size   (MB) | Filename | Previous filename                          |
| ------------------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | ---------------------- | --------------------------------- |
| PilotNet                        | ✗ | ✗ | 0.048 | 0.018 | 122     | 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 |
| DeepestLSTMTinyPilotNet         | ✗ | ✗ | 0.076 | 0.023 | 0.9     | 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 |
| PilotNetx3 (TimeDistributed)    | ✓ | ✗ | 0.028 | 0.0074 | 15.1    | 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 (Conv3D)             | ✓ | ✗ | 0.026 | 0.0091 | 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 |
| PilotNet                        | ✗ | ✓ | 0.031 | 0.0093 | 122     | 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         | ✗ | ✓ | 0.065 | 0.016 | 0.9     | 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 (TimeDistributed)    | ✓ | ✓ | 0.0065 | 0.0083 | 15.1    | 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 |
| PilotNetx3 (Conv3D)             | ✓ | ✓ | 0.0065 | 0.00077 | 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 |