樹莓派學開車

donkeycar.ipynb

{
  "nbformat": 4,
  "nbformat_minor": 0,
  "metadata": {
    "colab": {
      "name": "樹莓派學開車",
      "provenance": [],
      "collapsed_sections": [
        "FNJPVrXDXWBY",
        "Uwl-Ct1QZapS",
        "JopyWPttXqAa",
        "8IYt3nB5a-DH",
        "fXFZtafMdoKh",
        "v7lKyuc5juu3",
        "TdQg-bwNT2da",
        "T2sD9AvSEFzy",
        "_vrmSOjtIOFT"
      ],
      "include_colab_link": true
    },
    "kernelspec": {
      "name": "python3",
      "display_name": "Python 3"
    },
    "accelerator": "GPU"
  },
  "cells": [
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "view-in-github",
        "colab_type": "text"
      },
      "source": [
        "<a href=\"https://colab.research.google.com/gist/x1001000/ac28c8879da1e861d2460c686f376315/donkeycar.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "FNJPVrXDXWBY"
      },
      "source": [
        "# Colab 基本操作"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "oGXyqGncjp8b"
      },
      "source": [
        "## 先另存這個 notebook (.ipynb)\n",
        "1. 存雲端 Google Drive，用 Colab 就能編輯和執行\n",
        "2. 載下來，電腦需安裝 Jupyter 才能編輯和執行\n",
        "3. [CC BY](http://creativecommons.org/licenses/by/3.0/tw/) [十百千實驗室](https://medium.com/十百千實驗室)"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "Uwl-Ct1QZapS"
      },
      "source": [
        "## 進、出、換 cell\n",
        "1. ENTER進cell\n",
        "2. ESC出cell\n",
        "3. ↑↓換cell"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "JopyWPttXqAa"
      },
      "source": [
        "## 上增、下增、刪除、轉換 cell\n",
        "1. CMD/CTRL+m a (above的意思)\n",
        "2. CMD/CTRL+m b (below的意思)\n",
        "3. CMD/CTRL+m d (delete的意思)\n",
        "4. CMD/CTRL+m m/y (轉成text/code)"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "8IYt3nB5a-DH"
      },
      "source": [
        "## 在 cell 內\n",
        "1. ENTER換行編輯cell\n",
        "2. SHIFT+ENTER執行cell"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "fXFZtafMdoKh"
      },
      "source": [
        "## 上一步、下一步\n",
        "1. 在cell內：CMD/CTRL+z/y\n",
        "2. 在cell外：CMD/CTRL+SHIFT+z/y"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "v7lKyuc5juu3"
      },
      "source": [
        "## Runtime\n",
        "1. restart 重開機\n",
        "2. reset 重置、重灌\n",
        "3. 換GPU能加快訓練速度數十倍"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "YahOeLaofN_x"
      },
      "source": [
        "## Linux 指令\n",
        "1. 你的Google雲端硬碟裡的Colab Notebook是跑在1.5hr/12hr自動重置的Linux虛擬機上\n",
        "2. 資料科學、機器學習、深度學習(神經網路)、Google Cloud API相關的Python函式庫皆已安裝\n",
        "3. 現成的AI實驗開發環境，使用Python程式語言\n",
        "4. 前置一個驚嘆號，使用Linux指令操作虛擬機\n",
        "5. 用 && 解決無法停留在 cd 後的工作目錄的問題"
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "n30Jtvif9pHn"
      },
      "source": [
        "! pip list"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "pAjvOA6vYUs2"
      },
      "source": [
        "! ls"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "RKwWj1mRVWG5"
      },
      "source": [
        "! touch HELLO.txt"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "PuzCWkuOWB0W"
      },
      "source": [
        "! mkdir WORLD"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "7zLMsr7CWQZv"
      },
      "source": [
        "! mv HELLO.txt WORLD"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "ilr4F1QKWWWN"
      },
      "source": [
        "! cd WORLD "
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "7nmmnAiZGlBW"
      },
      "source": [
        "## 有用、有趣の設定\n",
        "1. Settings -> Site -> Theme -> dark\n",
        "2. Settings -> Miscellaneous -> Power / Corgi / Kitty"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "TdQg-bwNT2da"
      },
      "source": [
        "# 訓練 / 學習"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "6Vdqfu2hCqux"
      },
      "source": [
        "## 安裝 Donkeycar 開發套件及 PS3 藍芽手把驅動程式"
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "nZQCTMl45KLJ"
      },
      "source": [
        "! pip install git+https://github.com/autorope/donkeycar@0812f83"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "qxskIwLvPIiu"
      },
      "source": [
        "! pip install git+https://github.com/raspberrypi-tw/donkeypart_ps3_controller"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "MrTdaCR4FFzs"
      },
      "source": [
        "## 完整複製（git clone）或下載差異（git pull）"
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "aWaMVOZJIWD7"
      },
      "source": [
        "! git clone https://github.com/x1001000/mycar"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "bZt6MZLmteBb"
      },
      "source": [
        "! cd mycar && git pull"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "BVEb-VpfGPFw"
      },
      "source": [
        "## Training / Testing\n",
        "1. model 自行命名，但副檔名必須是.h5\n",
        "2. type 選項  \n",
        "https://github.com/autorope/donkeycar/blob/master/donkeycar/templates/complete.py#L7\n",
        "3. DonkeyCar已實作的各種模型的說明和比較  \n",
        "http://docs.donkeycar.com/parts/keras/\n",
        "4. TRAIN_TEST_SPLIT = 0.8  \n",
        "BATCH_SIZE = 128  \n",
        "MAX_EPOCHS = 100"
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "Ht18T-X4BJLP"
      },
      "source": [
        "! ls mycar"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "nbntNALiOSD7"
      },
      "source": [
        "! cd mycar && mkdir models"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "tTGjZ1ORIkIH"
      },
      "source": [
        "# 確認已更換為 GPU 的 runtime，訓練時間快\b上數十倍\n",
        "! cd mycar && python3 manage.py train --type rnn --model models/rnn_1.h5"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "gDvO4snm2b7x"
      },
      "source": [
        "# 確認已更換為 GPU 的 runtime，訓練時間快\b上數十倍\n",
        "! cd mycar && python3 manage.py train --type rnn --model models/rnn_2.h5 --transfer models/rnn_1.h5 --tub data/tub資料夾名稱,data/tub資料夾名稱,..."
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "T2sD9AvSEFzy"
      },
      "source": [
        "# 推論 / 應用"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "UH00QYOjHxSP"
      },
      "source": [
        "## 上傳差異（git push）"
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "udSxSLPXJiz-"
      },
      "source": [
        "! git config --global user.email \"you@example.com\"\n",
        "! git config --global user.name \"Your Name\""
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "HljiqCRcJd_p"
      },
      "source": [
        "! cd mycar && git add .\n",
        "! cd mycar && git commit -m 'rnn_1'"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "dQ1DwuiFKCLz"
      },
      "source": [
        "! cd mycar && git push https://帳:密@github.com/帳/mycar"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "_vrmSOjtIOFT"
      },
      "source": [
        "## 回樹莓派下載差異（git pull）\n",
        "```\n",
        "溫馨提醒：\n",
        "這是在樹莓派做\n",
        "不是在Colab做\n",
        "git pull\n",
        "python manage.py drive --type rnn --model models/rnn_1.h5\n",
        "```"
      ]
    }
  ]
}