Conditional Imitation Learning at CARLA

Repository to store the conditional imitation learning based AI that runs on carla.

Requirements

tensorflow_gpu 1.1 or more

numpy

scipy

carla 0.7.1

Running

Basically run:

$ python run_CIL.py

Note that you must have a carla server running
To check the other options run

$ python run_CIL.py --help

Paper

If you use the conditional imitation learning, please cite our Arxiv paper.

_End-to-end driving via conditional imitation learning,
Codevilla, Felipe and M{"u}ller, Matthias and Dosovitskiy, Alexey and L{'o}pez, Antonio and Koltun, Vladlen;
arXiv preprint arXiv:1710.02410 [PDF]

@article{codevilla2017end,
  title={End-to-end driving via conditional imitation learning},
  author={Codevilla, Felipe and M{\"u}ller, Matthias and Dosovitskiy, Alexey and L{\'o}pez, Antonio and Koltun, Vladlen},
  journal={arXiv preprint arXiv:1710.02410},
  year={2017}
}