Atlas Simulator Program

A Mars rover simulation environment for collecting human navigation demonstrations in Godot game engine environment to train a mapless autonomous navigation model for mars like terrain

EfficientNet-B0 CNN model guiding a rover towards a destination point

With this repo you can do the following:

• Play a game/simulation with randomly generated mars-like terrain and a rover controllable by WASD and KL keys
• Collect navigation data from the user input
• Train a EfficientNet-B0 navigation model that imitates user-like motion
• Run the trained model in the simulation to test the model

Requirements

• godot
• Terrain3D by Tokisan Games (godot plugin)
• numpy
• PIL
• torch
• torchvision
• tqdm
• jupyterlab

How to collect training data from simulation

A training dataset is already available in huggingface, so you don't have to collect again. Instructions for data collection are still provided for anyone who wants to reproduce the results, retrain the model, or experiment with different datasets

1. Open the godot folder in Godot game engine and hit play
2. Use WASD to move in the 4 directions. Use K and L key to rotate left and right respectively
3. The goal is to move the rover to reach the big red beacon light
4. The data of your movements will be recorded automaticaly to dataset/godot folder

Note

If the training doesn't collect any data, try changing the DataCollector/collect_data boolean parameter in godot to true

How to train the model

A trained model weights are already available in EfficientNet-B0/weights/AtlasEffB0_v0.pt, so you don't have to train anything again. Instructions for data training are still provided for anyone who wants to reproduce the results, retrain the model, or experiment with different datasets

1. Run dataset/process_image_data.py
2. Run dataset/delete_data_bin_files.py
3. Open jupyterlab in EfficientNet-B0 folder
4. Run all (except the last) cells in efficientnet_b0.ipynb

How to infer the model in realtime

1. Run EfficientNet-B0/AtlasEffB0_v0_server.py in a terminal (Keep it running for the entire duration of the simulation)
2. Open the godot folder in Godot game engine and hit play
3. The rover will now automatically moved by the model

Note

If the rover is not moved by the model, try changing the Rover/ModelController/use_model boolean parameter in godot to true