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Deep Drone Racing - TAU

teamwork-cat-dog teamwork-flip

This repo contains tensorflow 2 implementation of a zero-shot sim2real method for deep drone racing.
In addition, tensorflow lite model conversion is also featured. The available code scripts are used to train and evaluate various ResNet based models. The manuscript accompanying this work also attached, and a small portion of the data for fast activation and sanity check.

credits:

This work was performed on the basis of the UZH, Robotics and Perception Group.

The relevant published paper is the: Deep Drone Racing: From Simulation to Reality with Domain Randomization.

For more information visit their project page. The repo can be found at https://github.com/uzh-rpg/sim2real_drone_racing

Installation

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

Requirements

This code was tested with various operating systems with python 3.6.9:

  • Ubuntu 18.04
  • Windows 10, 64 bit
  • MacOS Catalina

The code also runs on Jetson TX2, for which all dependencies need to be installed via NVIDIA JetPack SDK.

Step-by-Step Procedure

In order to set the virtual environment, apriori installation of Anaconda3 platform is required.

Use the following commands to create a new working virtual environment with all the required dependencies.

CPU based enviroment:

git clone https://github.com/DavidSriker/Deep_Learning_TAU.git
cd Deep_Learning_TAU
conda env create -f tf2_cpu.yml
conda activate tf2_cpu
pip install -r pip_requirements_cpu.txt

GPU based enviroment:

git clone https://github.com/DavidSriker/Deep_Learning_TAU.git
cd Deep_Learning_TAU
conda env create -f tf2_gpu.yml
conda activate tf2_gpu
pip install -r pip_requirements_gpu.txt

In order to utilize the GPU implementation make sure your hardware and operation system are compatible for tensorflow 2 with python 3

Data Collection

Create a "test_data" folder and place it within the "Data" directory. Place your test data inside.

Training the model

Before training the model, possible modification can be done in the CommonFlags script under the following comments:

  • Train parameters
  • Train Optimizer Params
  • Network name (modify to choose custom training)
    • net_name

In order to initiate trainining, sevral experiment regimes are possible and need to be tuned in the train script:

  • Experiment_num = 0: run ResNet8 model with Adam optimizer and formula=0.1.
  • Experiment_num = 1: run ResNet8 model with formula=0.1 for each defined optimizer. Currently defined are Adam,SGD, Adadelta and Adagrad optimizers.
  • Experiment_num = 2: run ResNet8 model with Adam optimizer for multiple formula values. For each formula the model is trained for multiple number of epochs.
  • Experiment_num = 3: run ResNet8, ResNet7 and TC-ResNet8 with Adam optimizer formula=0.1.

Execute training by running:

python Train.py

Testing the model

Before testing the model, several option changes can be done in the CommonFlags script under the following comments:

  • Network name

    • net_name

  • Testing parameters

    • tflite
    • export_test_data
    • num_test_img_save
    • test_img_save

  • Another issue is the amount of epochs the model was trained currently there are 3 models that was trained for 300 epochs in the case one retrain the model adjust appropretly in the CommonFlags:

    • Train parameters
    • Train Optimizer Params

Execute testing by running:

python Test.py

Model inference

In order to perform inference over the saved model, several options can be first tuned in the CommonFlags script under the following comments:

  • Network name
    • net_name
  • Another issue is the amount of epochs the model was trained currently there are 3 models that was trained for 300 epochs in the case one retrain the model adjust appropretly in the CommonFlags:
    • Train parameters
    • Train Optimizer Params

In addition, the image size should be set in the DroneMode.py script.

Execute inference by running:

python DroneMode.py

If the inference part is required over an embedded-gpu hardware for actual UAV applications, then make sure to use communication based ROS2 that support python 3.

Jetson TX2

The code works as expected, but in order to activate it on the Jetson TX2 one should install all the right dependencies via NVIDIA-SDK Manager; For more details please refer to the document: Articles/DL_TAU.pdf in the repository.

Tasks:

  • TF-2 implementation
  • TF-Lite conversion
  • Build ResNet8, ResNet7 & TC-ResNet8
  • Data analysis code
  • Clean code
  • Inference implementation
  • Jetson TX2 implementation

Authors