1. Data generation: car.sh (simulartions with a leading car, and it will call data_gen.py file, which further calls datagen.scenic) car_no.sh (simulations without a leading car, and it will call data_gen_nocar.py, which further calls datagen_nocar.scenic)

2. Training data folder structure: Please check the data foler on Alvis-1298, which contains 3000 folders/runs.

3. Controllers training: traincnn_turn.sh (train models which contains an extra embedding for turning info) It calls train_turn.py file and utilizes model architetucre from distance_cte_cnns_turn.py The saved model weights are under folder checkpoints/, please check Alvis-1298

4. Testing controller: test_cnn_controller.scenic The maneuver info has not been passed correctly yet