Ratio between "smooth" and "recovery" & When to start logging data

[bryanbocao]

Hi Alex, I really appreciate your efforts in sharing your code and thoughts! This is pretty helpful for understanding the whole pipeline to implement behavioral cloning!

Currently, we are trying to replicate the behavioral cloning with the same model on jetson racecar to make it run indoors but it didn't work well.

I have a few questions in the data collection section in https://navoshta.com/end-to-end-deep-learning/

This would contain both driving in “smooth” mode (staying right in the middle of the road for the whole lap), and “recovery” mode (letting the car drive off center and then interfering to steer it back in the middle).

1. What's the ratio of the data between "smooth" mode and "recovery" mode?
2. In the "recovery" mode, when do you start to log the data (by data I mean everything that is going to be fed into the network like frames, steering angle and so on) ? 2.1) start to log data at the moment when you drive the car off the center and then interfering to steer it back in the middle. Or 2.2) drive the car off the center, and then start to log data at the moment when you steer it back in the middle?

Look forward to your answers. Thanks!