Wolverine

Deep Reinforcement Learning for UAV
Semester Project for EE5894 Robot Motion Planning, Fall2018, Virginia Tech
Team Members:​​ Chadha, Abhimanyu, Ragothaman, Shalini and Jianyuan (Jet) Yu
Contact: Abhimanyu([email protected]), Shalini([email protected]), Jet([email protected])
Simulator: AirSim
Open Source Library: CNTK

Install AirSim on Mac

0. Before start

   • make sure good network connection and speed, the whole installation cost more than 20G size download.
   • my case:
     • Hardware - MacBook Pro (Retina, 13-inch, Early 2015);
     • Graphics - Intel Iris Graphics 6100 1536 MB;
     • OS - High Sierra Version 10.13.6;
     • Xcode - verison 10.0
   • install Xcode, and do lanuch to make sure it is well installed.

1. install Epic Games Launcher

2. launch Epic Games Launcher, in left Bar, click "Library", install the Unreal Engine, where I choose the newest version 4.20, the installation take around an hour for the ~20G download .

3. after unreal engine is installed, launch it. Choose "Learn" at left Bar, select the Landscape Mountains scence, which is the official and most widely used one, and it cost ~2G download.

4. When download finished, choose "Create Project" to save it.

5. Build Airsim:

   • change path to where you want to install, for my case, I choose ~.

   •   git clone https://github.com/Microsoft/AirSim.git
       cd AirSim
       ./setup.sh
       ./build.sh
     

   • the build take me around 20 min

6. Run Blocks, open the Blocks.uproject under Unreal/Environments/Blocks/, it may ask you to rebuild.

7. copy the folder unreal/plugins of Blocks to LandscapeMountains, in that airsim could run as a plugin in this project.

8. Launch the LandscapeMountains.uproject.

Reference

• install AriSim on Mac in Chinese(https://blog.csdn.net/qq_26919935/article/details/80901773)

Install AirSim on Ubuntn 18.04

1. install UE
   1. signup Unreal Engine
   2. connect git account
   3. git clone -b 4.17 https://github.com/EpicGames/UnrealEngine.git
   4. cd UnrealEngine
   5. /Setup.sh
   6. ./GenerateProjectFiles.sh
   7. make
   8. test lanuch by Engine/Binaries/Linux/UE4Editor The 5~7 step would eat up ~40G size of disk(while ~8G at Windows) and take ~4h time.
2. install Airsim, official guide, Ubuntu start from 1.2.0.

       git clone https://github.com/Microsoft/AirSim.git
       cd AirSim
       ./setup.sh
       ./build.sh

3. install CNTK PyPI does NOT support Ubuntu18.04, and wheel (.whl) files way does not support python 3.7.0 so far, if no version fit your computer, try make conda virtual environment. e.g. I make a python2.7 environment to go on.
   1. fix libmpi_cxx.so.1 errror -> follow refer, sudo ln -s /usr/lib/x86_64-linux-gnu/libmpi_cxx.so.20 /usr/lib/x86_64-linux-gnu/libmpi_cxx.so.1 and sudo ln -s /usr/lib/x86_64-linux-gnu/libmpi.so.20.10.1 /usr/lib/x86_64-linux-gnu/libmpi.so.12 and update the path as export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/x86_64-linux-gnu.
   2. fix libmklml.so. -> install by conda install -c anaconda mklml and update path by export LD_LIBRARY_PATH=/home/jet/anaconda3/envs/py2/lib:$LD_LIBRARY_PATH.

Currently pass import cntk with warning

/home/jet/anaconda3/envs/py2/lib/python2.7/site-packages/cntk/cntk_py_init.py:47: UserWarning: Unsupported Linux distribution (ubuntu-18.04). CNTK supports Ubuntu 16.04 and above, only.
  warnings.warn('Unsupported Linux distribution (%s-%s). CNTK supports Ubuntu 16.04 and above, only.' % (__my_distro__, __my_distro_ver__))

However, new problem is DQNcar.py cannot run through, with bugs MemoryError as

/home/jet/anaconda3/envs/py2/lib/python2.7/site-packages/cntk/cntk_py_init.py:47: UserWarning: Unsupported Linux distribution (ubuntu-18.04). CNTK supports Ubuntu 16.04 and above, only.
  warnings.warn('Unsupported Linux distribution (%s-%s). CNTK supports Ubuntu 16.04 and above, only.' % (__my_distro__, __my_distro_ver__))
Connected!
Client Ver:1 (Min Req: 1), Server Ver:1 (Min Req: 1)

Traceback (most recent call last):
  File "DQNcar.py", line 505, in <module>
    agent = DeepQAgent((NumBufferFrames, SizeRows, SizeCols), NumActions, monitor=True)
  File "DQNcar.py", line 270, in __init__
    self._memory = ReplayMemory(memory_size, input_shape[1:], 4)
  File "DQNcar.py", line 35, in __init__
    self._states = np.zeros((size,) + sample_shape, dtype=np.float32)
MemoryError

3. test
4. test DQN_car.py

Notice:

1. when test hello_car.py, make sure you open the UE4Editor and click the PLAY button.

install CNTK

cntk current does not support ubuntu 18.04

1. downgrade python to 3.5.0
2. install numpy, msgpack-rpc-python
3. install related .whl, e.g. python3.5.0+cntk2.5.0 with (https://cntk.ai/PythonWheel/CPU-Only/cntk-2.5-cp35-cp35m-linux_x86_64.whl)
4. conda install -c anaconda mklml
5. update path export LD_LIBRARY_PATH=/home/jet/anaconda3/lib:$LD_LIBRARY_PATH, cd to related path to check lib like libmklml.so exisit.
6. type python, type import cntk to test. Output would be like

/home/jet/anaconda3/lib/python3.5/site-packages/cntk/cntk_py_init.py:47: UserWarning: Unsupported Linux distribution (ubuntu-18.04). CNTK supports Ubuntu 16.04 and above, only.
  warnings.warn('Unsupported Linux distribution (%s-%s). CNTK supports Ubuntu 16.04 and above, only.' % (__my_distro__, __my_distro_ver__))

Reference Projects

• Autonomous Driving using End-to-End Deep Learning: an AirSim tutorial - official
• Object Tracing with UAV in AirSim Environment - implement DQN with tensorflow/keras rather than CNTK.
• Obstacle-Avoidance-using-DDQN - CNTK