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<!DOCTYPE html>
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<meta charset="UTF-8" />
<meta name="viewport" content="width=device-width" />
<meta name="description" content="An introduction to deep learning through the applied task of building a self-driving car. Taught by Lex Fridman." />
<meta name="keywords" content="deep learning,lex fridman,self-driving cars,mit" />
<title>DeepTraffic | MIT 6.S094: Deep Learning for Self-Driving Cars</title>
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<script src="convnetjs/util.js?v2.0"></script>
<script src="convnetjs/vis.js?v2.0"></script>
<script src="convnetjs/deepqlearn.js?v2.0"></script>
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<link rel="stylesheet" href="deeptraffic_style.css" /> </head>
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<div id="page" class="hfeed site">
<div id="main" class="wrapper"><img id="whiteCarSmall" src="car-white-small.png" style="display: none;">
<img id="redCarSmall" src="car-red-small.png" style="display: none;">
<div class="mainContainer">
<div class="infoCol">
<div class="speedBox" style="margin-left: 50px;">
Speed: (mph)<br>
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Frame count: <br>
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<select class="button-small" onchange="setDrawingStyle(this)">
<option value="normal">None</option>
<option value="cutout">Learning Input</option>
<option value="safety">Safety System</option>
<option value="full">Full Map</option>
</select><br>
<span>Simulation Speed:</span>
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<option value="true">Fast</option>
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<input type="file" id="filePicker" onchange="readFile(this)" style="display: none;">
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<div>
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<div>
<button id="cropImage" class="button-primary button-small" style="display:none">cropImage</button>
<button id="loadFile" class="button-small">Load Custom Image</button>
<div>
<select id="colorscheme" name="colors" class="button-small">
<option id="red" value="#FF0000">Red</option>
<option id="maroon" value="#800000">Maroon</option>
<option id="black" value="#000000">Black</option>
<option id="silver" value="#C0C0C0">Sliver</option>
<option id="yellow" value="#FFFF00">Yellow</option>
<option id="lime" value="#00FF00">Lime</option>
<option id="green" value="#008000">Green</option>
<option id="aqua" value="#00FFFF">Aqua</option>
<option id="teal" value="#008080">Teal</option>
<option id="blue" value="#0000FF">Blue</option>
<option id="navy" value="#0000F0">Navy</option>
<option id="fuchsia" value="#FF00FF">Fuchsia</option>
<option id="purple" value="#800080">Purple</option>
</select>
</div>
<div>
<button id="requestVisualization" class="button-small">Request Visualization</button>
</div>
</div>
<div class="example-links">
<a href="https://selfdrivingcars.mit.edu/deeptraffic-custom-car-gallery/" target="_blank">Custom Vehicle Images</a>
<a href="https://selfdrivingcars.mit.edu/deeptraffic-visualization/" target="_blank">See Your Visualization</a>
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//<![CDATA[
// a few things don't have var in front of them - they update already existing variables the game needs
lanesSide = 3;
patchesAhead = 20;
patchesBehind = 10;
trainIterations = 100000;
// the number of other autonomous vehicles controlled by your network
otherAgents = 0; // max of 10
var num_inputs = (lanesSide * 2 + 1) * (patchesAhead + patchesBehind);
var num_actions = 5;
var temporal_window = 0;
var network_size = num_inputs * temporal_window + num_actions * temporal_window + num_inputs;
var layer_defs = [];
layer_defs.push({
type: 'input',
out_sx: 1,
out_sy: 1,
out_depth: network_size
});
layer_defs.push({
type: 'fc',
num_neurons: 30,
activation: 'relu'
});
layer_defs.push({
type: 'fc',
num_neurons: 30,
activation: 'relu'
});
layer_defs.push({
type: 'regression',
num_neurons: num_actions
});
var tdtrainer_options = {
learning_rate: 0.001,
momentum: 0.0,
batch_size: 64,
l2_decay: 0.01
};
var opt = {};
opt.temporal_window = temporal_window;
opt.experience_size = 10000;
opt.start_learn_threshold = 5000;
opt.gamma = 0.9;
opt.learning_steps_total = 10000;
opt.learning_steps_burnin = 1000;
opt.epsilon_min = 0.0;
opt.epsilon_test_time = 0.0;
opt.layer_defs = layer_defs;
opt.tdtrainer_options = tdtrainer_options;
brain = new deepqlearn.Brain(num_inputs, num_actions, opt);
learn = function (state, lastReward) {
brain.backward(lastReward);
var action = brain.forward(state);
draw_net();
draw_stats();
return action;
}
//]]>
/*###########*/
</script>
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