Readme

How to install

This will need the last version of git as we need the sparse-checkout git command. Here's how to update :

sudo add-apt-repository -y ppa:git-core/ppa
sudo apt-get update
sudo apt-get install git -y

Follow those steps to install

# clone the repo without getting any files history except root files
git clone --filter=blob:none --no-checkout --depth 1 --sparse https://github.com/roboracingleague/donkeycar-models

# Get only the 'hooks/' & 'onnx/' folders
cd donkeycar-models
git config core.sparsecheckout true
git sparse-checkout add hooks onnx
git checkout
git fetch --unshallow

# Launch first convertion
./hooks/src/post-merge init

# install the git hooks
cd hooks
./install_hooks.sh

How to use

Whenever a new onnx is created and should be deployed on the cars, it must be commited and pushed on the remote in the onnx folder. The file should be named either behavior*.onnx or detector*.onnx, depending on the type of model it is.

To retrieve the new model on the car, connect to the car, cd to the models directory, and pull the repository.

cd donkeycar-models
git pull

The pull command will trigger the post-merge hook who in turn will convert the new onnx file to a trt file.

Models Reference

Model Type

• L : Left
• C : Center
• R : Right
• S : Speed
• O : Obstacle

Model list

Model	Model Type	Steering Ref.	Kernels	In	Out	Learning Type	Val. Dataset	# Images	img Type	Val. Loss	Epoch	Angle Accuracy	Throttle Accuracy	Val. Angle Accuracy	Val. Throttle Accuracy	Max. dist.	Note
050	LCR	0.4 / 0.6	12	img & Desired behavior	Steering + Throttle	-	Shuffle	60 K	Raw	0.12036	39	-	-	-	-	-
051	LCR	0.4 / 0.6	12	img & Desired behavior	Steering + Throttle	-	Shuffle	72 K	Raw	0.18487	33	-	-	-	-	-
052	LCR	0.4 / 0.6	12	img & Desired behavior	Steering + Throttle	Transfer from 50	Shuffle	72 K	Raw	0.18065	46	-	-	-	-	-
053	LCR	0.35 / 0.65	12	img & Desired behavior	Steering + Throttle	-	Shuffle	72 K	Raw	0.19021	35	-	-	-	-	-
054	LCR	0.35 / 0.65	12	img & Desired behavior	Steering + Throttle	Transfer from 52	Shuffle	72 K	Raw	0.13072	21	-	-	-	-	-
055	LCRS	0.35 / 0.65	12	img & Desired behavior	Steering + Throttle	-	Shuffle	72 K	Raw	0.13679	26	0.9063	0.9885	0.9024	0.9918	-
056	LCRS	0.35 / 0.65	24	img & Desired behavior	Steering + Throttle	Transfer from 52	Shuffle	72 K	Raw	0.11870	18	0.9255	0.9899	0.9146	0.9943	-
057	LCRS	0.3 / 0.7	12	img & Desired behavior	Steering + Throttle	-	Shuffle	72 K	Raw	0.13842	26	0.9180	0.9899	0.8993	0.9925	-
058	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	-	Shuffle	45 K	Raw	0.14651	17	-	-	-	-	-
060	LCRS	0.3 / 0.7	24	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	45 K	Raw	0.13537	34	-	-	-	-	-
064	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	45 K	Raw	0.05494	36	-	-	-	-	-
065	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	20240126 Alpine	Shuffle	45 K	Raw	0.11178	18	-	-	-	-	-
066	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	20240126 Megane	Shuffle	45 K	Raw	0.10231	28	-	-	-	-	-
067	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	20240126 Sandero	Shuffle	45 K	Raw	0.10181	15	-	-	-	-	-
068	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	20240126 Megane+Sandero	Shuffle	90 K	Raw	0.10163	19	-	-	-	-	-
069	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	20240126 Alpine+Megane+Sandero	Shuffle	135 K	Raw	0.10854	24	-	-	-	-	-
070	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	20240126 Alpine	Shuffle	83 K	Raw	0.05773	19	-	-	-	-	-
071	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	20240126 Megane	Shuffle	90 K	Raw	0.05369	17	-	-	-	-	-
072	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	20240126 Sandero	Shuffle	90 K	Raw	0.06030	25	-	-	-	-	-
073	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	90 K	Raw	0.06155	24	-	-	-	-	-	Correction angle caméra +3Rpx. Le modèle tire trop à droite
074	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	90 K	Raw	?	?	-	-	-	-	-	Correction angle caméra +2Rpx. Le modèle tire trop à droite
075	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	45 K	Raw	?	?	-	-	-	-	-	Correction angle caméra +1Rpx. Le modèle tire trop à droite
076	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Megane	Shuffle	45 K	Raw	?	?	-	-	-	-	-	Correction angle caméra +2Rpx. Le modèle tire trop à droite
078E	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	45 K	Raw	0.11750	24	-	-	-	-	-
078F	LCRS	0.25 / 0.75	24	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	45 K	Raw	0.11511	19	-	-	-	-	-
079	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	90 K	Raw	0.06247	19	-	-	-	-	-	Avec comportement retour en piste
079A	LCRS	0.25 / 0.75	24	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	90 K	Raw	0.06482	22	-	-	-	-	-	Avec comportement retour en piste
080	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	90 K	Raw	0.12416	22	-	-	-	-	-	Avec comportement retour en piste. Compensation latence 2 img.
083	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	195 K	Raw	0.13814	37	-	-	-	-	-	Avec comportement retour en piste. Compensation latence 2 img. train split 80/20
084	LCRS	0.25 / 0.75	12	img & Desired behavior	Steering + Throttle	Alpine	Shuffle	195 K	Raw	0.13458	32	-	-	-	-	-	Avec comportement retour en piste. Compensation latence 2 img. train split 80/20
A001	LRO	n/a	24	img	Obstacle position	-	Shuffle	17 K	Raw	0.21497	14	-	-	-	-	1.2
A020	LRO	n/a	12	img	Obstacle position	-	Shuffle	17 K	Raw	0.09710	16	-	-	-	-	1.5
A021	LRO	n/a	12	img	Obstacle position	-	Shuffle	17 K	Raw	0.10870	15	-	-	-	-	1.2
A022	LRO	n/a	12	img	Obstacle position	-	Shuffle	17 K	Raw	0.08259	17	-	-	-	-	2.0

2024-05-02 Tests Sandero models

max speed 0.25

• behavior-069.trt : REF - keep center at max speed, cannot keep lanes at max speed, some obvious oscilations
• behavior-093.trt : Little less smooth ? or not that much - keep lanes at max speed
• behavior-094.trt : keep lanes at max speed
• behavior-095.trt : Smoother - keep lanes at max speed ; better than 93 & 94 - keep center at 0.28
• behavior-096.trt : less smooth - globally keep lanes at max speed but out few times
• behavior-097.trt : NA
• behavior-098.trt : Little less smooth