Donkey Car - Imitation Learning

Implementation of Imitation Learning to train a model to drive a donkey car.

Parallel Parking	Perpendicular Parking

Requirements

OS: Ubuntu 18.04 (Tested)
See requirements.txt for information on python libraries.

Train a model

To train a model, go to the main directory of this repository aand execute the command below:
python main_train.py --epochs 30 --batch_size 32 --version 3 --data_dir {PATH_TO_YOUR_DATA} --model_path {DIRECTORY_TO_SAVE_MODEL}

This will train the model and save the weights in depending on model_path (by default models directory) as model.h5.

Please look in parse_args function in src/arg_parser.py for information on additional parsable arguments

Test a model

The trained model can be tested in simulation provided by Donkey Gym.
Run the following command in the terminal:
python main_drive.py --model_path {DIRECTORY_OF_TRAINED_MODEL}