Week 14: Sept 01 ~ Sept 07

Preliminaries

Week 14 marked the final stage of my GSoC journey. The primary focus was on completing and finalizing the End-to-End Visual Control exercise user documentation to ensure clarity, completeness, and accessibility for future users. At the same time, I explored improvements in model performance by experimenting with imitation learning approaches using ResNet as the base model architecture. This week was dedicated to polishing deliverables and wrapping up the project.

Objectives

Finalize the user documentation for the End-to-End Visual Control exercise.
Provide comprehensive resources (GPU acceleration instructions, example code, video tutorial) to enhance the usability of the exercise.
Explore imitation learning model training using ResNet.

Execution

Completing End-to-End User Documentation

I finalized the complete user documentation for the End-to-End Visual Control exercise. This included instructions for enabling GPU acceleration, a user code example for model training and testing, debugging, and a video tutorial to provide a practical demonstration. After completing the draft, I shared it with other reviewers and will update it according to their feedback to ensure high quality and ease of use.

The documentation is now in the hands of reviewers. Their feedback will guide refinements and improvements, ensuring that all important details are covered and that the exercise is easy to follow for both beginners and advanced users.

Then I created an issue and pull request for the user documentation.

Issue: #3217

Pull Request: #3218

Exploring ResNet for Imitation Learning

Alongside my documentation work, I experimented with training a Follow-Line imitation learning model that utilized ResNet as the base architecture. The goal was to assess the performance of ResNet in comparison to previously used models, such as PilotNet . This exploratory step paves the way for testing various deep learning backbones in visual control tasks. I used our existing two datasets.

Huggingface Links:

Is This the End or The Beginning of My Deep Open-Source Journey with JdeRobot?

“GSoC may have ended, but my open-source story is just beginning. Excited to continue my contributions to JdeRobot and to explore new horizons in robotics and AI!"