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Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

github.com

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Re: Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

#11

Post by imgyuri »

amelius wrote: post #6

> With europilot, you can capture the game screen input, and programmatically control the truck inside the simulator. Can't this be easily generalized to any game?

Yes, and this is by design. However the controlling logic will probably have to be customized for each additional game.

Euro Truck Simulator was chosen because it runs on Windows/OS X/Linux, and because the game consists mainly of highway roads, which is an easier target than urban environments.

Also I just really like the game itself.

Re: Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

#12

Post by imgyuri »

m3kw9 wrote: post #4

How does training the NN using a limited frame per second affect the training accuracy? Why not go higher or lower than the one you are using?

In terms of capturing the screen input for training, the fps is capped at 10 fps. This is following the number suggested in NVIDIA's paper[1], which cautions against overfitting. The program captures faster when the steering angle gets larger, because it suggests that curvy road is ahead, which are the more challenging scenarios for the program.

In terms of testing, the max fps is determined by the performance of the GPU and the complexity of the model. I couldn't find any definitive studies done on the matter, but anywhere from 10-30 fps seems to work OK.

[1] https://arxiv.org/abs/1604.07316

Re: Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

#13

Post by jeroenhd »

gregschlom wrote: post #9
crudbug wrote: post #3

Does this publish CAN bus events ? I was looking into similar solutions to capture CAN bus events for telematics usecase.

It's a video game so there aren't any CAN bus events.

That sounds like an interesting idea for a mod though...

Re: Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

#15

Post by bitL »

imgyuri wrote: post #12
m3kw9 wrote: post #4

How does training the NN using a limited frame per second affect the training accuracy? Why not go higher or lower than the one you are using?

In terms of capturing the screen input for training, the fps is capped at 10 fps. This is following the number suggested in NVIDIA's paper[1], which cautions against overfitting. The program captures faster when the steering angle gets larger, because it suggests that curvy road is ahead, which are the more challenging scenarios for the program. In terms of testing, the max fps is determined by the performance of the…

Add a RNN with a 10-frames history on top of NVidia's model and you get the winning Udacity challenge entry (mentioned on selfdrivingcars.mit.edu). I assume you also programmed this model during Udacity's Self-driving car nanodegree.

Re: Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

#16

Post by zpr »

amelius wrote: post #6

> With europilot, you can capture the game screen input, and programmatically control the truck inside the simulator. Can't this be easily generalized to any game?

This is really cool. Consider introducing this concept to an FPS game, at what point do you consider it to be an aimbot?

Re: Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

#17

Post by wyager »

amelius wrote: post #7

An obvious disadvantage is that you don't have LIDAR inputs. I guess it would be rather difficult to hack ETS such that it generates them.

I'm not sure. LIDAR is just about the simplest thing to render in a simulation: a relatively small number of ray-scene intersections.

Re: Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

#19

Post by CardenB »

wyager wrote: post #17
amelius wrote: post #7

An obvious disadvantage is that you don't have LIDAR inputs. I guess it would be rather difficult to hack ETS such that it generates them.

I'm not sure. LIDAR is just about the simplest thing to render in a simulation: a relatively small number of ray-scene intersections.

Simulating lidar returns in a way that has noise similar to real devices is difficult

Re: Europilot: A toolkit for Euro Truck Simulator to develop self-driving algorithms

#20

Post by octalmage »

zpr wrote: post #16
amelius wrote: post #6

> With europilot, you can capture the game screen input, and programmatically control the truck inside the simulator. Can't this be easily generalized to any game?

This is really cool. Consider introducing this concept to an FPS game, at what point do you consider it to be an aimbot?

That is exactly what aimbots are. Sometimes you can make bots easier by using an addon system to export information(WoW), or themes to color your targets (CS), but at the root you read the screen and control the mouse.
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