Machine Learning for RC Cars

Kendrick Tan

Last update: Jan 2, 2023

Related tags

Machine Learning suiron

Overview

Suiron

Machine Learning for RC Cars

Prediction visualization (green = actual, blue = prediction)

Click the video below to see it in action!

Dependencies

Python 2.7 was chosen as it was supported by all the libraries used at the time

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install python-opencv python-dev

export TF_BINARY_URL=https://storage.googleapis.com/tensorflow/linux/cpu/tensorflow-0.10.0-cp27-none-linux_x86_64.whl
sudo pip install --upgrade $TF_BINARY_URL

sudo pip install -r requirements.txt

Collecting data

python collect.py

Visualizing collected data

python visualize_collect.py

Training data

python train.py

Visualizing predicted data

python visualize_predict.py

References

Blog Post detailing how the hardware and software communicate - Communicating between RC Car and the On-board Computer - Jabelone

Communication between hardware and software repo - car-controller

Neural Network architecture was based on NVIDIA's Self-driving car paper - End-To-End Learning for Self-Driving Cars

Comments

Raw data available?

Nice work!

Thanks for sharing - great project. Are you willing to share the raw data you collected?

After reading about the project at

In reality, 20 minutes is no where near enough data. It works great on this particular track with similar lighting conditions but would likely fail if the conditions changed to much.

Your project is inspiring, I'd like to build a car myself. Before doing that I'd like to try out try some different training ideas but need raw data. If you ware willing to share your dataset it would be a real time saver. My guess is others would appreciate it as well.

Thanks,
question

opened by ProgramItUp 3
collect.py does not save data
Does collect.py work for a Raspberry Pi 3? When I execute python collect.py the code runs without errors but I notice that the CPU is near zero, output_1.csv does not contain any data while running, after pressing "cntrl-c" output_1.csv only contains the header ",image,servo,motor"

Here is more detail:

clone suiron and car-controller

Upload car-controller.ino to an Arduino nano

Execute python collect.py

"Recording data..." and the webcam light turns on, as normal

Wait for 10seconds to 1 minute

Press cntr-c

No data in output_foo.csv

Any thoughts?
opened by ProgramItUp 1
Problem in running train.py

Hi Kendrick, thanks for sharing your amazing project. I have some problem when I'm running Train.py here is the log :

data = pd.DataFrame.from_csv(filename) Traceback (most recent call last): File "train.py", line 18, in c_x, c_servo = get_servo_dataset(d) File "/Users/theamircoder/suiron/suiron/utils/datasets.py", line 14, in get_servo_dataset data = pd.DataFrame.from_csv(filename) File "/anaconda3/lib/python3.6/site-packages/pandas/core/frame.py", line 1361, in from_csv infer_datetime_format=infer_datetime_format) File "/anaconda3/lib/python3.6/site-packages/pandas/io/parsers.py", line 709, in parser_f return _read(filepath_or_buffer, kwds) File "/anaconda3/lib/python3.6/site-packages/pandas/io/parsers.py", line 449, in _read parser = TextFileReader(filepath_or_buffer, **kwds) File "/anaconda3/lib/python3.6/site-packages/pandas/io/parsers.py", line 818, in init self._make_engine(self.engine) File "/anaconda3/lib/python3.6/site-packages/pandas/io/parsers.py", line 1049, in _make_engine self._engine = CParserWrapper(self.f, **self.options) File "/anaconda3/lib/python3.6/site-packages/pandas/io/parsers.py", line 1695, in init self._reader = parsers.TextReader(src, **kwds) File "pandas/_libs/parsers.pyx", line 565, in pandas._libs.parsers.TextReader.cinit pandas.errors.EmptyDataError: No columns to parse from file

How can I train it ? should I use Joysticks or something ?

opened by AmirmohammadZarif 0
Broken link

Hi great work here.. It seems the link: http://jabelone.com.au/blog/make-autonomous-car-code-included/ I'm get a "not Found" page.. In either case, I wanted to know the order in which to run the python files in the repository.. Thanks

opened by renderit 0
import cv2 fails with CUDA 8.0

So, I updated tensorflow to r0.11, which required upgrading to CUDA 8.0 to be able to use the prebuilt Tensorflow binary for Ubuntu/Linux 64-bit, GPU enabled, Python 2.7.

Tensorflow runs correctly but python ./suiron/train.py import cv2 fails with Traceback (most recent call last): File "./train.py", line 5, in <module> from suiron.utils.datasets import get_servo_dataset File "/data/home/me/my_tensorflow/suiron/suiron/suiron/utils/datasets.py", line 9, in <module> from suiron.utils.img_serializer import deserialize_image File "/data/home/mer/my_tensorflow/suiron/suiron/suiron/utils/img_serializer.py", line 5, in <module> import cv2 ImportError: libcudart.so.7.5: cannot open shared object file: No such file or directory

I spent a lot of time looking for a version of cv built against CUDA 8 but did not find anything.
Any thoughts on the best way to resolve?

opened by ProgramItUp 4

TypeError: variable_scope() got an unexpected keyword argument 'values'

I have followed the installation instructions but am having a problem during training.

When I run python ./train.py the line network = conv_2d(network, 8, [5, 3], activation='relu') throws the error TypeError: variable_scope() got an unexpected keyword argument 'values'

Any thoughts what the problem could be? Thanks,

python ./train.py
I tensorflow/stream_executor/dso_loader.cc:108] successfully opened CUDA library libcublas.so locally
I tensorflow/stream_executor/dso_loader.cc:108] successfully opened CUDA library libcudnn.so locally
I tensorflow/stream_executor/dso_loader.cc:108] successfully opened CUDA library libcufft.so locally
I tensorflow/stream_executor/dso_loader.cc:108] successfully opened CUDA library libcuda.so.1 locally
I tensorflow/stream_executor/dso_loader.cc:108] successfully opened CUDA library libcurand.so locally
[!] Loading dataset...
[!] Finished loading dataset...
Traceback (most recent call last):
  File "./train.py", line 29, in <module>
    servo_model = get_cnn_model(SETTINGS['servo_cnn_name'], SETTINGS['width'], SETTINGS['height'], SETTINGS['depth'])
  File "/data/home/user123/my_tensorflow/suiron/suiron/suiron/core/SuironML.py", line 20, in get_cnn_model
    network = conv_2d(network, 8, [5, 3], activation='relu')
  File "/usr/local/lib/python2.7/dist-packages/tflearn/layers/conv.py", line 72, in conv_2d
    with tf.variable_scope(scope, name, values=[incoming], reuse=reuse) as scope:
  File "/usr/lib/python2.7/contextlib.py", line 84, in helper
    return GeneratorContextManager(func(*args, **kwds))
TypeError: variable_scope() got an unexpected keyword argument 'values'

opened by ProgramItUp 3

Owner

Kendrick Tan

i have a little meower

GitHub http://jabelone.com.au/blog/make-autonomous-car-code-included/

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Machine Learning for RC Cars

Related tags

Overview

Suiron

Machine Learning for RC Cars

Prediction visualization (green = actual, blue = prediction)

Click the video below to see it in action!

Dependencies

Python 2.7 was chosen as it was supported by all the libraries used at the time

Collecting data

Visualizing collected data

Training data

Visualizing predicted data

References

Comments

Raw data available?

collect.py does not save data

Problem in running train.py

Broken link

import cv2 fails with CUDA 8.0

TypeError: variable_scope() got an unexpected keyword argument 'values'

Owner

Kendrick Tan

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