From 30cf070671377e69f2afb57d83434695602b0c26 Mon Sep 17 00:00:00 2001
From: Aditya Prakash <adityaprakash229997@gmail.com>
Date: Wed, 14 Apr 2021 11:00:06 +0200
Subject: [PATCH] Update README.md

---
 cilrs/README.md | 22 ++++++++++++++++++++--
 1 file changed, 20 insertions(+), 2 deletions(-)

diff --git a/cilrs/README.md b/cilrs/README.md
index 56ced29..cecd92c 100644
--- a/cilrs/README.md
+++ b/cilrs/README.md
@@ -1,2 +1,20 @@
-# AIM
-![aim](assets/model.png)
+# CILRS
+
+<p align="center"> <img src="assets/model.png" width="512"> </p>
+
+AIM consists of a ResNet34 image encoder with an autoregressive GRU-based waypoint prediction network. This is equivalent to adapting CILRS to predict waypoints conditioned on goal locations rather than predicting vehicle controls conditioned on navigational commmands.
+
+## Training
+```Shell
+CUDA_VISIBLE_DEVICES=<gpu_id> python3 train.py --id cilrs --batch_size 256
+```
+
+## Evaluation
+Update ```leaderboard/scripts/run_evaluation.sh``` to include the following.
+```
+export ROUTES=leaderboard/data/evaluation_routes/routes_town05_long.xml
+export TEAM_AGENT=leaderboard/team_code/cilrs_agent.py
+export TEAM_CONFIG=model_ckpt/cilrs
+export CHECKPOINT_ENDPOINT=results/cilrs_result.json
+export SCENARIOS=leaderboard/data/scenarios/town05_all_scenarios.json
+```
-- 
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