carla-imitation-learning

Imitation Learning Model Training in Carla with DAgger

Contents

1. Setup
2. Configuration
3. Running Carla Server
4. Run Autopilot
5. Training
6. Evaluation
7. Bug Fixes

Setup

Clone the repo and build the environment

git clone --recursive https://github.com/resuldagdanov/carla-imitation-learning.git
cd carla
conda create -n carla python=3.7
pip3 install -r requirements.txt
conda activate carla

Merge all submodules

git submodule update --remote --merge

Download and setup CARLA 0.9.13

wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.13.tar.gz
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.13.tar.gz
tar -xf CARLA_0.9.13.tar.gz
tar -xf AdditionalMaps_0.9.13.tar.gz
rm CARLA_0.9.13.tar.gz
rm AdditionalMaps_0.9.13.tar.gz

Configuration

Open bashrc and include CARLA_ROOT, LEADERBOARD_ROOT, and SCENARIO_RUNNER_ROOT

export CARLA_ROOT=~/carla
export SCENARIO_RUNNER_ROOT=~/carla-imitation-learning/scenario_runner
export LEADERBOARD_ROOT=~/carla-imitation-learning/leaderboard

Running Carla Server

Open terminal in the folder where Carla 0.9.13 is installed.

./CarlaUE4.sh --world-port=2000 --resx=600 --resy=400 --quality-level=Epic -vulkan

Run Autopilot

Configure ./scripts/run_autopilot.sh file !

chmod 777 -R *
./scripts/run_autopilot.sh

Training

All training files are in ./imitation_agents/trainings/ and ./imitation_agents/networks/ NOTE: make sure to check out configurations folder (at ./imitation_agents/utils/) before training an imitation learning model.

chmod 777 -R *
./scripts/imitation_training.sh

Models are saved inside ./checkpoints/models/ file.

Evaluation

Spin up a CARLA server (described above).

chmod 777 -R *
./scripts/leaderboard_evaluation.sh

Bug Fixes

• [track type] ./leaderboard/leaderboard/autoagents/agent_wrapper.py line 183-184 has to be commented because for some reason leaderboard pops-up Track.SENSORS != Track.SENSORS logic.