Art by striatic.
Bootstrapping Vehicles: a formal approach to unsupervised sensorimotor learning based on invariance.
Technical Report, California Institute of Technology, 2012.
pdf
supp. material
slides
This is version 1.3 of my dissertation; I was not satisfied with the "official" 1.0 version, and I'm still adding material that I didn't have time to write. Because this is still a work in progress, any feedback is most appreciated.
Datasets
- Chapter 11: The datasets using for camera calibration are available here (~5GB in MPG format).
- Chapter 12-13: The datasets used for the Vehicles experiments are available here (~16GB in HDF format).
- Chapter 14: See the Rawseeds project.
- Chapter 15: See here.
- The rest is coming...
Media
- Chapter 11: Videos for calibration
- Chapters 12-13: Videos using the Vehicles simulations (exploration, servoing).
- Chapter 14: Videos using real data (camera/range-finders on mobile robots)
Software
All software is available for download from various GitHub projects (I am working on a one-click installation for Amazon EC2; inquire if interested).
These are the main pieces:
- boot12env is the "root" repository that contains scripts for setting up a virtual environment and checking out the other packages.
- BootOlympics
is the package responsible for interfacing agents and robots,
loading/saving data and running the benchmarks,
such as prediction, servoing, etc.
- bvapps contains the configuration files for the simulations/experiments.
- boot_agents contains the implementation of the agents (BDS, BGDS, DDS, etc.).
- PyVehicles is used to run the Vehicles simulations.
- PyGeometry implements all differential geometry functions.
These are miscellaneous utilities for creating reports, videos, and general plumbing:
- procgraph, for creating the videos.
- reprep, for creating the reports.
- latex_gen, for auto-generating the LaTeX reports (see Chapter 13).
- pysnip for running Python from inside LaTeX.
- compmake, for parallel computation.
- conf_tools, for reading yaml configuration.
- PyContracts