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wayveai / mile

PyTorch code for the paper "Model-Based Imitation Learning for Urban Driving".
MIT License
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How to increase speed when performing closed-loop validation at Carla #26

Closed KevinDu1 closed 1 year ago

KevinDu1 commented 1 year ago

Seeing that the code sets the Carla's FPS to 25Hz causes it to take a day to run one round of validation when running evaluate.py, how can I set it up so that the model can be validated faster?

anthonyhu commented 1 year ago

According to the CARLA developers, the minimum FPS you can set is 10Hz. For faster evaluation, I set the constant CARLA_FPS=10 here https://github.com/wayveai/mile/blob/main/mile/constants.py#L4.

If you are evaluating single-frame models, it should work with a pretrained model. But if you're using temporal models, you have to make sure that the model was trained on the correct temporal stride.

KevinDu1 commented 1 year ago

Thanks！