{"id":28650594,"url":"https://github.com/carla-simulator/imitation-learning","last_synced_at":"2025-06-13T05:06:58.939Z","repository":{"id":27904520,"uuid":"115134727","full_name":"carla-simulator/imitation-learning","owner":"carla-simulator","description":"Repository to store conditional imitation learning based AI that runs on CARLA.","archived":false,"fork":false,"pushed_at":"2022-05-13T17:37:29.000Z","size":69794,"stargazers_count":423,"open_issues_count":69,"forks_count":126,"subscribers_count":25,"default_branch":"master","last_synced_at":"2024-07-21T13:32:59.352Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/carla-simulator.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2017-12-22T17:02:15.000Z","updated_at":"2024-07-20T03:52:18.000Z","dependencies_parsed_at":"2022-07-12T12:31:41.312Z","dependency_job_id":null,"html_url":"https://github.com/carla-simulator/imitation-learning","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/carla-simulator/imitation-learning","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/carla-simulator%2Fimitation-learning","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/carla-simulator%2Fimitation-learning/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/carla-simulator%2Fimitation-learning/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/carla-simulator%2Fimitation-learning/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/carla-simulator","download_url":"https://codeload.github.com/carla-simulator/imitation-learning/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/carla-simulator%2Fimitation-learning/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":259584826,"owners_count":22880202,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-13T05:06:56.098Z","updated_at":"2025-06-13T05:06:58.913Z","avatar_url":"https://github.com/carla-simulator.png","language":"Python","funding_links":[],"categories":["Official Repositories 🏢"],"sub_categories":[],"readme":"Conditional Imitation Learning at CARLA\n===============\n\nRepository to store the conditional imitation learning based\nAI that runs on carla. The trained model is the one used \non \"CARLA: An Open Urban Driving Simulator\" paper.\n\nRequirements\n-------\ntensorflow_gpu 1.1 or more\n\nnumpy\n\nscipy\n\ncarla 0.8.2\n\nPIL\n\n\nRunning\n------\nBasically run:\n\n$ python run_CIL.py\n\nNote that you must have a carla server running . \u003cbr\u003e\nTo check the other options run\n\n$ python run_CIL.py --help\n\n\nDataset\n------\n\n[The dataset can be downloaded here](https://drive.google.com/file/d/1hloAeyamYn-H6MfV1dRtY1gJPhkR55sY/view) 24 GB\n\nThe data is stored on HDF5 files.\nEach HDF5 file contains 200 data points.\nThe HDF5 contains two \"datasets\":\n'images_center': \u003cbr\u003e\nThe RGB images stored at 200x88 resolution\n\n'targets': \u003cbr\u003e\nAll the controls and measurements collected. \nThey are stored on the \"dataset\" vector.\n\n1. Steer, float \n2. Gas, float\n3. Brake, float \n4. Hand Brake, boolean \n5. Reverse Gear, boolean\n6. Steer Noise, float \n7. Gas Noise, float \n8. Brake Noise, float\n9. Position X, float \n10. Position Y, float \n11. Speed, float \n12. Collision Other, float \n13. Collision Pedestrian, float \n14. Collision Car, float \n15. Opposite Lane Inter, float \n16. Sidewalk Intersect, float \n17. Acceleration X,float \n18. Acceleration Y, float \n19. Acceleration Z, float \n20. Platform time, float \n21. Game Time, float \n22. Orientation X, float \n23. Orientation Y, float \n24. Orientation Z, float \n25. High level command, int ( 2 Follow lane, 3 Left, 4 Right, 5 Straight) \n26. Noise, Boolean ( If the noise, perturbation, is activated, (Not Used) ) \n27. Camera (Which camera was used) \n28. Angle (The yaw angle for this camera)\n\n\n\n\nPaper\n-----\n\nIf you use the conditional imitation learning, please cite our ICRA 2018 paper.\n\nEnd-to-end Driving via Conditional Imitation Learning. \u003cbr\u003e Codevilla,\nFelipe and Müller, Matthias and López, Antonio and Koltun, Vladlen and\nDosovitskiy, Alexey. ICRA 2018\n[[PDF](http://vladlen.info/papers/conditional-imitation.pdf)]\n\n\n```\n@inproceedings{Codevilla2018,\n  title={End-to-end Driving via Conditional Imitation Learning},\n  author={Codevilla, Felipe and M{\\\"u}ller, Matthias and L{\\'o}pez,\nAntonio and Koltun, Vladlen and Dosovitskiy, Alexey},\n  booktitle={International Conference on Robotics and Automation (ICRA)},\n  year={2018},\n}\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcarla-simulator%2Fimitation-learning","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcarla-simulator%2Fimitation-learning","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcarla-simulator%2Fimitation-learning/lists"}