Target Description Issue

[jackspp]

Hi, first thanks a lot for giving the dataset!

A question for dataset target description is:

Noise, Boolean ( If the noise, perturbation, is activated, (Not Used) )

I checked several h5 files, all the noise is 0, however, there are noises in

Steer Noise, float Gas Noise, float Brake Noise, float

So, does that mean:

1. although there are noise, but noise are not input into system?(Noise Boolean are all 0 which means not used) or
2. All dataset are collected under noise?(I only checked for several h5 files, their's steer or gas or brake noise always exist)

In Conditonal Imitation Learning Paper, it writes

Our training dataset comprises 2 hours of human driving in Town 1 of which only 10%(roughly 12 minutes) contain demonstrations with injected noise. Collecting training data with strong injected noise was quite exhausting for the human driver. However, a relatively small amount of such data proved very effective in stabilizing the learned policy.

But the dataset you provided is far more than 2 hours. So is this dataset same as the dataset paper used?

[felipecode]

Hey @jackspp The dataset I provided is about 12 hours and it was used on the CARLA paper. The noise flag was not used in the end but the noise was introduced in part of the dataset. That is a mistake, I know, but recollecting the dataset would not be practical.

You could check the existence of noise by looking at target number 6 " Steer Noise ", if it is different from target 0 "Steer", it means noise was used on this datapoint.