Robotics URJC

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View the Project on GitHub RoboticsLabURJC/2017-tfm-vanessa-fernandez

Week 30: Results, Controlnet Statistics, Fixed circuit

Results table (cropped image)

Driving results (regression networks)                            
  Manual   Pilotnet v + w   TinyPilotnet v + w   Stacked v+w   Stacked (diff) v+w   LSTM-Tinypilotnet v + w   DeepestLSTM-Tinypilot.  
Circuits Percentage Time Percentage Time Percentage Time Percentage Time Percentage Time Percentage Time Percentage Time
Simple (clockwise) 100% 1min 35s 100% 1min 37s 100% 1min 41s 100% 1min 41s 100% 1min 39s 100% 1min 40s 100% 1min 37s
Simple (anti-clockwise) 100% 1min 32s 100% 1min 38s 100% 1min 41s 10%   100% 1min 38s 100% 1min 38s 100% 1min 38s
Monaco (clockwise) 100% 1min 15s 100% 1min 20s 100% 1min 19s 85%   45%   50%   55%  
Monaco (anti-clockwise) 100% 1min 15s 100% 1min 19s 100% 1min 18s 15%   5%   35%   55%  
Nurburgrin (clockwise) 100% 1min 02s 100% 1min 04s 100% 1min 04s 8%   8%   40%   100% 1min 04s
Nurburgrin (anti-clockwise) 100% 1min 02s 100% 1min 06s 100% 1min 05s 80%   50%   50%   80%  
CurveGP (clockwise) 100% 2min 13s 100% 2min 16s 25%   25%   25%   100% 2min 17s 100% 2min 18s
CurveGP (anti-clockwise) 100% 2min 09s 100% 2min 12s 75%   75%   75%   100% 2min 04s 100% 2min 12s
Driving results (classification networks)                
  Manual   5v+7w biased   5v+7w balanced   5v+7w imbalanced  
Circuits Percentage Time Percentage Time Percentage Time Percentage Time
Simple (clockwise) 100% 1min 35s 100% 1min 41s 75%   100% 1min 42s
Simple (anti-clockwise) 100% 1min 32s 100% 1min 39s 100% 1min 39s 100% 1min 43s
Monaco (clockwise) 100% 1min 15s 100% 1min 20s 70%   85%  
Monaco (anti-clockwise) 100% 1min 15s 100% 1min 18s 8%   100% 1min 20s
Nurburgrin (clockwise) 100% 1min 02s 100% 1min 03s 100% 1min 03s 100% 1min 05s
Nurburgrin (anti-clockwise) 100% 1min 02s 100% 1min 05s 80%   80%  
CurveGP (clockwise) 100% 2min 13s 100% 2min 06s 97%   100% 2min 15s
CurveGP (anti-clockwise) 100% 2min 09s 100% 2min 11s 100% 2min 05s 100% 2min 15s

Results table (whole image)

Driving results (regression networks)                    
  Manual   Pilotnet v + w   TinyPilotnet v + w   Stacked v+w   Stacked (diff) v+w  
Circuits Percentage Time Percentage Time Percentage Time Percentage Time Percentage Time
Simple (clockwise) 100% 1min 35s 100% 1min 41s 100% 1min 39s 100% 1min 40s 100% 1min 43s
Simple (anti-clockwise) 100% 1min 32s 100% 1min 39s 100% 1min 38s 100% 1min 46s 10%  
Monaco (clockwise) 100% 1min 15s 100% 1min 21s 100% 1min 19s 50%   5%  
Monaco (anti-clockwise) 100% 1min 15s 100% 1min 23s 100% 1min 20s 7%   5%  
Nurburgrin (clockwise) 100% 1min 02s 100% 1min 03s 100% 1min 05s 50%   8%  
Nurburgrin (anti-clockwise) 100% 1min 02s 100% 1min 06s 100% 1min 06s 80%   50%  
CurveGP (clockwise) 100% 2min 13s 100% 2min 20s 100% 2min 11s 25%   25%  
CurveGP (anti-clockwise) 100% 2min 09s 100% 2min 16s 100% 2min 06s 100% 2min 07s 75%  
Driving results (regression networks, continuation)            
  LSTM-Tinypilotnet v + w   DeepestLSTM-Tinypilot.   Controlnet  
Circuits Percentage Time Percentage Time Percentage Time
Simple (clockwise) 100% 1min 39s 100% 1min 39s 100% 1min 46s
Simple (anti-clockwise) 100% 1min 40s 100% 1min 41s 100% 1min 37s
Monaco (clockwise) 50%   50%   5%  
Monaco (anti-clockwise) 12%   100% 1min 21s 5%  
Nurburgrin (clockwise) 20%   100% 1min 05s 8%  
Nurburgrin (anti-clockwise) 80%   100% 1min 07s 75%  
CurveGP (clockwise) 100% 2min 20s 25%   25%  
CurveGP (anti-clockwise) 100% 2min 25s 100% 2min 04s 3%  
Driving results (classification networks)                
  Manual   5v+7w biased   5v+7w balanced   5v+7w imbalanced  
Circuits Percentage Time Percentage Time Percentage Time Percentage Time
Simple (clockwise) 100% 1min 35s 35%   10%   90%  
Simple (anti-clockwise) 100% 1min 32s 100% 1min 49s 100% 1min 46s 90%  
Monaco (clockwise) 100% 1min 15s 100% 1min 24s 5%   100% 1min 23s
Monaco (anti-clockwise) 100% 1min 15s 100% 1min 29s 8%   100% 1min 24s
Nurburgrin (clockwise) 100% 1min 02s 100% 1min 10s 8%   90%  
Nurburgrin (anti-clockwise) 100% 1min 02s 100% 1min 07s 8%   100% 1min 09s
CurveGP (clockwise) 100% 2min 13s 95%   80%   25%  
CurveGP (anti-clockwise) 100% 2min 09s 7%   3%   20%  

Controlnet statistics

Dataset (Simple, Monaco, Nurburgrin)

v results:

MSE: 0.5360334346978631

MAE: 0.21453057245415982

difference_controlnet_dataset_v

w results:

MSE: 0.00272241766280656

MAE: 0.03184364641428021

difference_controlnet_dataset_w

Dataset CurveGP

v results:

MSE: 0.3284508873436601

MAE: 0.17399486924267757

difference_controlnet_dataset_curves_v

w results:

MSE: 0.001533648088125278

MAE: 0.02667656092817528

difference_controlnet_dataset_curves_w

Fixed circuit

curve_fixed