# cloud_robotics
A deep reinforcement learning approach to cloud robotics.
NOTE: Before using this repo in python3, make sure to export the base code directory
on your machine to as CLOUD_ROBOTICS_DIR in your bashrc, like:
export CLOUD_ROOT_DIR='/Users/csandeep/Documents/cloud_robotics'
Key Directories:
utils: generic utils to plot and load jsons etc.
simulate_RL: train an RL agent in tensorflow for cloud offloading
hardware_experiments: run an RL agent on a Jetson TX2 embedded GPU with IP camera
data: where to put pre-recorded videos or faces of people to train FaceNet DNN models
DNN_models:
- pretrained, base vision DNNs to detect faces and the OpenFace models
scratch_results:
- where outputs of runs go, such as logfiles and models
Citations:
We modified publicly available code and used vision DNNs from:
1. pyimagesearch: https://www.pyimagesearch.com/
2. OpenFace project: https://cmusatyalab.github.io/openface/
3. jsonsockets library
Common problems on the Jetson TX2 when running Tensorflow with CUDA:
if you get:
2019-03-27 17:20:39.660979: W ./tensorflow/core/common_runtime/gpu/pool_allocator.h:195] could not allocate pinned host memory of size: 2304
add the following, as per:
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
session = tf.Session(config=config, ...)
https://devtalk.nvidia.com/default/topic/1029742/jetson-tx2/tensorflow-1-6-not-working-with-jetpack-3-2/