Haptic

Shared autonomy using haptic feedback as a steering driver assistance system

In this repo, we are using the gym environment developed by NotAnyMike. You can find it on this link: https://notanymike.github.io/Solving-CarRacing/

For the ROS implementation of the testing code, please visit this repository: https://github.com/AbdelrahmanAbdelgwad/haptic-shared-autonomy-ros-pkg

Setup and Installation

git clone git@github.com:AbdelrahmanAbdelgwad/haptic.git

Create a venv

Use the steps in this link: https://code.visualstudio.com/docs/python/environments

Rquirements

cd haptic

pip install -r requirements.txt

pip install -e .

git submodule update --init --recursive

git submodule update --remote

cd stable_baselines3

pip install -e .

cd ..

cd gym

pip install -e .

cd ..

cd src/haptic

Using the package

Training:

In the terminal, run the following command customized to your preference:

haptic <mode> <policy_type> <path/to/pilot_model> <pilot_type> <copilot_model_name>

• mode = "train"
• policy_type = "Multi" or "Cnn"
• pilot_type = "none_pilot","laggy_pilot", "noisy_pilot", "optimal_pilot", or "human_keyboard"

Example:

haptic train Cnn FINAL_MODEL_SMOOTH_STEERING_CAR none_pilot copilot_2M_0.6_none_x0.3_x4_Cnn

Testing:

haptic <mode> <policy_type> <path/to/pilot_model> </path/to/copilot_model>

• mode = "test"
• policy_type = "Multi" or "Cnn"

Example:

haptic test Cnn FINAL_MODEL_SMOOTH_STEERING_CAR Copilot_600k_noisy_fine_tuning