https://github.com/ypwhs/behavioral_cloning

https://github.com/ypwhs/behavioral_cloning

jupyter-notebook keras self-driving-car simulator vgg16

Last synced: about 1 month ago
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• Host: GitHub
• URL: https://github.com/ypwhs/behavioral_cloning
• Owner: ypwhs
• Created: 2017-01-06T05:01:37.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2017-01-23T07:52:51.000Z (almost 8 years ago)
• Last Synced: 2024-11-02T13:51:47.043Z (about 2 months ago)
• Topics: jupyter-notebook, keras, self-driving-car, simulator, vgg16
• Language: Jupyter Notebook
• Size: 60.5 KB
• Stars: 28
• Watchers: 6
• Forks: 14
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        
# behavioral_cloning

行为克隆

[![](https://raw.githubusercontent.com/ypwhs/resources/master/behavioral_cloning.gif)](http://www.bilibili.com/video/av7872806/)

[![](https://raw.githubusercontent.com/ypwhs/resources/master/behavioral_cloning_3.gif)](http://www.bilibili.com/video/av7880273/)

(点击查看b站视频)

## 下载

数据集和模拟器和训练好的模型都可以在这里下载：[link](https://pan.baidu.com/s/1hrIZg5A)

数据集是我跑了很多圈记录下来的数据，数据集包括实时左中右三个摄像头的截图和当前的速度方向等数据。

模拟器是 Udacity 提供的，用了 Unity3D 游戏引擎。

## 网络结构

采用带 image-net 预训练权重的 VGG16 作为网络的特征采集层

通过两层 2048 个节点的全连接隐藏层和一个神经元输出的结构

学习当前图像对应的方向盘摆幅。