rdesc/autorally

Forked repo of the AutoRally platform. Includes a scalable pipeline to train a neural network dynamics model to enable MPPI support for different vehicle dynamics.

AutoRally

Forked repo of the AutoRally project. Go to the parent repository to read through the original README.md which includes setup/build instructions.

The following items are the contributions made in this forked repo:

• ML Pipeline - Adds a scalable framework to train a neural network dynamics model so that MPPI supports other vehicle models other than AutoRally. Link
• SSL Vision - Adds setup instructions to configure SSL Vision and python scripts to measure the sensor noise of the overhead vision system. Link
• Removed ROS coupling - Removed some coupling between MPPI and ROS. No longer need the roslaunch wrapper to launch path_integral_nn, can now just run it as a standalone binary. Link
• Profiler instructions - PROFILE.md provides specific instructions on how to setup the NVIDIA Visual Profiler to debug + profile MPPI. Link