Data collection in Carla 0.9.x

[PrimeF]

Hello,

the data-collector linked by this repository only works for Carla 0.8.x.

However, I have created scenarios using scenario-runner 0.9.9, how can those be used in the COiLTRAiNE framework to train a model?

Thanks for your help!

[felipecode]

Absolutely. THe only problem would be the driving module from the system. But there will be no problem on training and validation !

[PrimeF]

@felipecode Thanks for your prompt reply! Unfortunately I guess I don't get your answer.

Is the data-collector able to handle scenarios from 0.9.x scenario-runner (according to an issue in the data-collector repository this causes an error) or is COiLTRAiNE able to handle the scenarios without need of the data-collector?

Could you please elaborate more on the details please, because I'm actually missing the information how I go from having XML files for the scenario-runner to a dataset usable to train a COiLTRAiNE model.

Thanks again!

[felipecode]

I not sure I understand the issue. The pre-trained models are made using 0.8.4 data, so they probably wont handle scenarios from 0.9.X. The data collector is still not updated to 0.9.x. Thus it does not work with scenario runner.

From what I understand you already have data from 0.9.x In this case, you can use this repository to train driving models without any issue. I did this myself a few times. This is true since this is not a fundamentally a CARLA dependent repository, it provides a framework to train imitation learning agents.

[PrimeF]

I guess we are getting close to understanding each other :) What do you mean by "you already have data from 0.9.x"? I have XMLs that are in a format used by the scenario-runner to run scenarios. However I lack the step to get from this XMLs to the data format required by COiLTRAiNE. As far as my understanding goes this step is usually taken by the data-collector. However, as this data-collector is not available for 0.9.x I cannot use it. Thus, the question how to go from XMLs to the format required by COiLTRAiNE, and more in detail what is the required format?

[felipecode]

Basically you just need images and json files with steering/gas/brake/speed. Those can be easily obtained with the scenario runner.

[PrimeF]

Ok, that is already very helpful, thanks! I tried to generate such a json file, however I was not able to find the proper way to do it. In their documentation scenario-runner states, to use the --log flag which, however, is not available. Whereas the --record flag does not record the json files for me. Do you have any more insights?