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fixed brain path; added config file for IL brain
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Meiqi Zhao
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Oct 2, 2023
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70 changes: 70 additions & 0 deletions
70
behavior_metrics/configs/CARLA/default_carla_imitation_learning.yml
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Behaviors: | ||
Robot: | ||
Sensors: | ||
Cameras: | ||
Camera_0: | ||
Name: 'camera_0' | ||
Topic: '/carla/ego_vehicle/rgb_front/image' | ||
Camera_1: | ||
Name: 'camera_1' | ||
Topic: '/carla/ego_vehicle/rgb_view/image' | ||
Camera_2: | ||
Name: 'camera_2' | ||
Topic: '/carla/ego_vehicle/semantic_segmentation_front/image' | ||
Camera_3: | ||
Name: 'camera_3' | ||
Topic: '/carla/ego_vehicle/dvs_front/image' | ||
Pose3D: | ||
Pose3D_0: | ||
Name: 'pose3d_0' | ||
Topic: '/carla/ego_vehicle/odometry' | ||
BirdEyeView: | ||
BirdEyeView_0: | ||
Name: 'bird_eye_view_0' | ||
Topic: '' | ||
Speedometer: | ||
Speedometer_0: | ||
Name: 'speedometer_0' | ||
Topic: '/carla/ego_vehicle/speedometer' | ||
Actuators: | ||
CARLA_Motors: | ||
Motors_0: | ||
Name: 'motors_0' | ||
Topic: '/carla/ego_vehicle/vehicle_control_cmd' | ||
MaxV: 3 | ||
MaxW: 0.3 | ||
BrainPath: 'brains/CARLA/brain_carla_segmentation_based_imitation_learning.py' | ||
PilotTimeCycle: 50 | ||
AsyncMode: False | ||
Parameters: | ||
Model: 'pilotnet_v8.0.pth' | ||
ImageCropped: False | ||
ImageSize: [ 100,50 ] | ||
ImageNormalized: True | ||
PredictionsNormalized: True | ||
GPU: True | ||
UseOptimized: False | ||
ImageTranform: '' | ||
Type: 'CARLA' | ||
Simulation: | ||
World: configs/CARLA/CARLA_launch_files/town_02_anticlockwise_imitation_learning.launch | ||
RandomSpawnPoint: False | ||
NumberOfVehicle: 50 | ||
NumberOfWalker: 0 | ||
PercentagePedestriansRunning: 0.5 | ||
PercentagePedestriansCrossing: 0.5 | ||
Dataset: | ||
In: '/tmp/my_bag.bag' | ||
Out: '' | ||
Stats: | ||
Out: './' | ||
PerfectLap: './perfect_bags/lap-simple-circuit.bag' | ||
Layout: | ||
Frame_0: | ||
Name: frame_0 | ||
Geometry: [0, 1, 1, 2] | ||
Data: rgbimage | ||
Frame_1: | ||
Name: frame_1 | ||
Geometry: [1, 1, 1, 2] | ||
Data: rgbimage |