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config.yml
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config.yml
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dataset:
paths:
train:
# UDacity standard dataset..
- datasets/dataset_2/driving_log.csv
# Made with x-box joystick...
- datasets/dataset_3/driving_log.csv
# Drive near both road edges(2 laps) & drink driving(1 lap)...
- datasets/dataset_4/driving_log.csv
# Drive near both road edges(6 laps)...
- datasets/dataset_5/driving_log.csv
# Drink driving (3 laps)...
- datasets/dataset_6/driving_log.csv
# Normal driving (4 laps)...
- datasets/dataset_7/driving_log.csv
# Normal reverse driving (6 laps)...
- datasets/dataset_8/driving_log.csv
# Normal driving (6 laps)...
- datasets/dataset_9/driving_log.csv
# Test dataset normal driving (3 laps)...
- datasets/dataset_10/driving_log.csv
# Normal reserve driving (5 laps)...
- datasets/dataset_11/driving_log.csv
# Normal reserve driving (10 laps)...
- datasets/dataset_12/driving_log.csv
- datasets/dataset_13/driving_log.csv
- datasets/dataset_14/driving_log.csv
- datasets/dataset_15/driving_log.csv
- datasets/dataset_16/driving_log.csv
- datasets/dataset_17/driving_log.csv
- datasets/dataset_18/driving_log.csv
- datasets/dataset_19/driving_log.csv
- datasets/dataset_20/driving_log.csv
- datasets/dataset_21/driving_log.csv
- datasets/dataset_0/driving_log.csv
- datasets/dataset_1/driving_log.csv
test:
- datasets/dataset_0/driving_log.csv
- datasets/dataset_1/driving_log.csv
columns:
- center
- left
- right
- steering
- throttle
- reverse
- speed
features:
- center
- left
- right
labels:
- steering
network:
image_input_shape:
height: 66
width: 200
channels: 3
speed_input_shape: 1
reserve_input_shape: 1
train:
epochs: 25
lr: 0.001
batch_size: 100
validation_set_percent: .30
augment:
threshold: .6
choose_adjustment_angle: .25
translate_range_x: 100
translate_range_y: 10
translate_angle_delta: .0035
choose_image_adjustment_angle: .2
image_translate_angle_delta: .002
throttle:
steer_threshold: .5
speed_threshold: 20
delta: .3
checkpoint_path: checkpoints
preprocess:
crop:
top_offset: 55
bottom_offset: 25
pi_controller:
set_point: 18
k_p: 0.2
k_i: 0.0006