AUTODRI

[Getting Started Notebook] AUTODRI Challange

You can use this code to start understanding the data and create a baseline model for further imporvments.

AIcrowd-Logo

Baseline for AUTODRI Challenge on AIcrowd¶

Author : Gauransh Kumar¶

Download Necessary Packages¶

In [1]:

!pip install numpy
!pip install pandas
!pip install scikit-learn 
!pip install matplotlib tqdm 
!pip install aicrowd-cli
%load_ext aicrowd.magic

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In [2]:

%aicrowd login

Please login here: https://api.aicrowd.com/auth/-U7IaqaCcnhCE0ynR1CmSYFnAMbx9Y4C_m8__GmpTEI
API Key valid
Saved API Key successfully!

Download data¶

The first step is to download the training data and the test data

In [3]:

# #Donwload the datasets
!rm -rf data
!mkdir data
%aicrowd ds dl -c autodri -o data

In [8]:

import shutil

# extracting validation zip
shutil.unpack_archive("./data/val.zip", "./data/")

# extracting train zip
shutil.unpack_archive("./data/train.zip", "./data/")

# extracting test zip
shutil.unpack_archive("./data/test.zip", "./data/")

In [9]:

## Now the data is available at the following locations:

TRAINING_IMAGES_FOLDER = "data/train/cameraFront"
TRAINING_LABELS_PATH = "data/train/train.csv"
TESTING_LABELS_PATH = "data/test/test.csv"
TESTING_IMAGES_FOLDER = "data/test/cameraFront"
# For this baseline, we will only be using the front camera angle of the car just for demonstration purpose. For actual one should try and see the best combination of all the angles

Import packages¶

In [10]:

import sys

import os
import tqdm

import pandas as pd
import numpy as np

from sklearn.model_selection import train_test_split
from sklearn.neural_network import MLPRegressor
from sklearn.metrics import mean_squared_error,mean_absolute_error
import matplotlib.pyplot as plt
%matplotlib inline

from PIL import Image

Load Data¶

We use PIL library to load our images. Here we are creating our array where our input features are the mean colours and output features are the rotations along the x axis.

In [11]:

training_labels_df = pd.read_csv(TRAINING_LABELS_PATH)

def pre_process_data_X(image):
    """
    This file takes a loaded image and returns a particular 
    representation of the data point
    
    
    NOTE: This current baseline implements a **very** silly approach
    of representing every image by the mean RGB values for every image.
    
    You are encourage to try to alternate representations of the data,
    or figure out how to learn the best representation from the data ;)
    """
    im_array = np.array(im)
    mean_rgb = im_array.mean(axis=(0, 1))
    return mean_rgb


ALL_DATA = []

for _idx, row in tqdm.tqdm(training_labels_df.iterrows(), total=training_labels_df.shape[0]):
    filepath = os.path.join(
        TRAINING_IMAGES_FOLDER,
        row.filename
    )
    im = Image.open(filepath)
    
    data_X = pre_process_data_X(im)
    data_Y = [row.canSteering]
    
    ALL_DATA.append((data_X, data_Y))

100%|██████████| 44304/44304 [03:54<00:00, 188.71it/s]

Exploratory Data Analysis¶

We now see the kind of images the dataset contains to get a better idea.

In [12]:

plt.figure(figsize=(20,20))
for i in range(16):
  filename,xRot = training_labels_df.iloc[i]
  filepath = os.path.join(
        TRAINING_IMAGES_FOLDER,
        filename
    )
  im = Image.open(filepath)
  plt.subplot(4,4,i+1)
  plt.axis('off')
  plt.title("canSteering: %.3f"%(xRot))
  plt.imshow(im)

Split Data into Train and Validation¶

We split the dataset into Training data and Validation datasets to help us test the generalizability of our models, and to ensure that we are not overfitting on the training set.

In [13]:

training_set, validation_set= train_test_split(ALL_DATA, test_size=0.2, random_state=42)

Here we have selected the size of the testing data to be 20% of the total data. You can change it and see what effect it has on the accuracies. To learn more about the train_test_split function click here.

Now, since we have our data splitted into train and validation sets, we need to get the label separated from the data.

In [14]:

X_train, y_train = zip(*training_set)
X_val, y_val = zip(*validation_set)


X_train = np.array(X_train)
y_train = np.array(y_train)
X_val = np.array(X_val)
y_val = np.array(y_val)

Define the Classifier¶

Now we finally come to the juicy part. Now that all the data is all loaded and available nice, we can finally get to training the classifier. Here we use sklearn MLPRegressor to train our network. We can tune the hyper parameters based on cross validation scores

In [15]:

model = MLPRegressor(hidden_layer_sizes=[10, 10], verbose=True)
# NOTE : This is again silly hyper parameter instantiation of this problem,
# and we encourage you to explore what works the best for you.

Train the classifier¶

In [16]:

model.fit(X_train, y_train)

/usr/local/lib/python3.7/dist-packages/sklearn/neural_network/_multilayer_perceptron.py:1599: DataConversionWarning: A column-vector y was passed when a 1d array was expected. Please change the shape of y to (n_samples, ), for example using ravel().
  y = column_or_1d(y, warn=True)

Iteration 1, loss = 23467.10872406
Iteration 2, loss = 23235.51775374
Iteration 3, loss = 23235.37566006
Iteration 4, loss = 23232.44216318
Iteration 5, loss = 23233.62252591
Iteration 6, loss = 23233.11067659
Iteration 7, loss = 23233.05708204
Iteration 8, loss = 23230.53007887
Iteration 9, loss = 23228.10533004
Iteration 10, loss = 23232.60005358
Iteration 11, loss = 23228.86461376
Iteration 12, loss = 23230.07208417
Iteration 13, loss = 23228.80836609
Iteration 14, loss = 23224.58276764
Iteration 15, loss = 23225.12415133
Iteration 16, loss = 23225.37271224
Iteration 17, loss = 23224.00179251
Iteration 18, loss = 23222.52763302
Iteration 19, loss = 23223.37194654
Iteration 20, loss = 23219.51846780
Iteration 21, loss = 23220.91321217
Iteration 22, loss = 23220.10884431
Iteration 23, loss = 23221.90862382
Iteration 24, loss = 23218.28971185
Iteration 25, loss = 23215.59253862
Iteration 26, loss = 23209.73473385
Iteration 27, loss = 23214.94876206
Iteration 28, loss = 23210.65687996
Iteration 29, loss = 23206.82272113
Iteration 30, loss = 23205.54583532
Iteration 31, loss = 23209.62428920
Iteration 32, loss = 23201.04462379
Iteration 33, loss = 23204.49163732
Iteration 34, loss = 23206.97911360
Iteration 35, loss = 23202.29742835
Iteration 36, loss = 23196.07116275
Iteration 37, loss = 23200.48224903
Iteration 38, loss = 23195.29165560
Iteration 39, loss = 23197.93126826
Iteration 40, loss = 23197.18733825
Iteration 41, loss = 23193.23349711
Iteration 42, loss = 23191.56029258
Iteration 43, loss = 23191.80976339
Iteration 44, loss = 23189.43771120
Iteration 45, loss = 23193.90805055
Iteration 46, loss = 23188.86683430
Iteration 47, loss = 23187.57372689
Iteration 48, loss = 23196.78702225
Iteration 49, loss = 23184.41300886
Iteration 50, loss = 23185.35424453
Iteration 51, loss = 23187.83054476
Iteration 52, loss = 23185.14290559
Iteration 53, loss = 23179.03057191
Iteration 54, loss = 23183.27042886
Iteration 55, loss = 23179.11258362
Iteration 56, loss = 23181.78986291
Iteration 57, loss = 23173.44444247
Iteration 58, loss = 23177.49173349
Iteration 59, loss = 23172.26638380
Iteration 60, loss = 23177.45150597
Iteration 61, loss = 23170.80364962
Iteration 62, loss = 23166.34421404
Iteration 63, loss = 23173.07920318
Iteration 64, loss = 23168.01845093
Iteration 65, loss = 23166.20970274
Iteration 66, loss = 23164.44063981
Iteration 67, loss = 23167.63680245
Iteration 68, loss = 23163.25364345
Iteration 69, loss = 23172.39861207
Iteration 70, loss = 23164.85173483
Iteration 71, loss = 23162.72817485
Iteration 72, loss = 23160.36167305
Iteration 73, loss = 23161.19930137
Iteration 74, loss = 23157.17647454
Iteration 75, loss = 23157.52718708
Iteration 76, loss = 23157.78233435
Iteration 77, loss = 23150.41751716
Iteration 78, loss = 23155.54326355
Iteration 79, loss = 23153.25426190
Iteration 80, loss = 23150.54444215
Iteration 81, loss = 23151.96738765
Iteration 82, loss = 23152.09295108
Iteration 83, loss = 23154.99770376
Iteration 84, loss = 23148.33805694
Iteration 85, loss = 23148.75096302
Iteration 86, loss = 23148.19749027
Iteration 87, loss = 23146.06235114
Iteration 88, loss = 23146.66953843
Iteration 89, loss = 23148.71434414
Iteration 90, loss = 23145.86703767
Iteration 91, loss = 23142.24850663
Iteration 92, loss = 23143.00165821
Iteration 93, loss = 23136.36997043
Iteration 94, loss = 23139.85272974
Iteration 95, loss = 23144.62057568
Iteration 96, loss = 23143.68844690
Iteration 97, loss = 23140.31059180
Iteration 98, loss = 23139.03624311
Iteration 99, loss = 23140.03613928
Iteration 100, loss = 23132.16762990
Iteration 101, loss = 23135.25780940
Iteration 102, loss = 23134.81446414
Iteration 103, loss = 23134.46053203
Iteration 104, loss = 23132.38660456
Iteration 105, loss = 23142.78320385
Iteration 106, loss = 23137.00938845
Iteration 107, loss = 23134.24987344
Iteration 108, loss = 23131.92622767
Iteration 109, loss = 23137.72540386
Iteration 110, loss = 23130.23517572
Iteration 111, loss = 23127.04448204
Iteration 112, loss = 23134.13182146
Iteration 113, loss = 23130.35683332
Iteration 114, loss = 23130.42019862
Iteration 115, loss = 23122.72774027
Iteration 116, loss = 23131.16221856
Iteration 117, loss = 23125.58213947
Iteration 118, loss = 23132.20036000
Iteration 119, loss = 23118.55579523
Iteration 120, loss = 23120.06250617
Iteration 121, loss = 23126.08802587
Iteration 122, loss = 23117.42821353
Iteration 123, loss = 23121.35917029
Iteration 124, loss = 23127.39138176
Iteration 125, loss = 23118.46896103
Iteration 126, loss = 23124.51782330
Iteration 127, loss = 23121.89542965
Iteration 128, loss = 23128.93028779
Iteration 129, loss = 23132.68047778
Iteration 130, loss = 23113.65440326
Iteration 131, loss = 23118.06486942
Iteration 132, loss = 23122.85854236
Iteration 133, loss = 23115.95378453
Iteration 134, loss = 23109.50878373
Iteration 135, loss = 23112.20435968
Iteration 136, loss = 23120.06691385
Iteration 137, loss = 23116.58163100
Iteration 138, loss = 23105.25899651
Iteration 139, loss = 23103.40956747
Iteration 140, loss = 23113.60808573
Iteration 141, loss = 23112.77299546
Iteration 142, loss = 23106.03343458
Iteration 143, loss = 23109.30706920
Iteration 144, loss = 23108.32845026
Iteration 145, loss = 23123.62860565
Iteration 146, loss = 23105.19014570
Iteration 147, loss = 23109.90302056
Iteration 148, loss = 23109.03264188
Iteration 149, loss = 23109.94066348
Iteration 150, loss = 23107.91855644
Training loss did not improve more than tol=0.000100 for 10 consecutive epochs. Stopping.

Out[16]:

MLPRegressor(hidden_layer_sizes=[10, 10], verbose=True)

Predict on Validation¶

Now we predict our trained classifier on the validation set and evaluate our model

In [17]:

y_pred = model.predict(X_val)

Evaluate the Performance¶

We use the same metrics as that will be used for the test set.
MAE and RMSE are the metrics for this challenge

In [18]:

print('Mean Absolute Error:', mean_absolute_error(y_val, y_pred))  
print('Mean Squared Error:', mean_squared_error(y_val, y_pred))  
print('Root Mean Squared Error:', np.sqrt(mean_squared_error(y_val, y_pred)))

Mean Absolute Error: 161.96763404236683
Mean Squared Error: 45488.84546574487
Root Mean Squared Error: 213.28114184274443

Load Test Set¶

Load the test data now

In [19]:

import glob
testing_labels_df = pd.read_csv(TESTING_LABELS_PATH)

TEST_DATA = []
TEST_FILENAMES = []
for _idx, row in tqdm.tqdm(testing_labels_df.iterrows(), total=testing_labels_df.shape[0]):
    filepath = os.path.join(
        TESTING_IMAGES_FOLDER,
        row.filename
    )
    print(filepath)
    im = Image.open(filepath)
    
    data_X = pre_process_data_X(im)
    TEST_DATA.append(data_X)
    TEST_FILENAMES.append(row.filename)

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Make predictions on the test set¶

In [20]:

test_predictions = model.predict(TEST_DATA)

In [21]:

test_predictions.shape

Out[21]:

(21269,)

In [22]:

test_df = pd.DataFrame(test_predictions, columns=['canSteering'])
test_df["filename"] = TEST_FILENAMES

In [23]:

test_df.shape

Out[23]:

(21269, 2)

Save the prediction to csv¶

In [25]:

# Saving the pandas dataframe
!rm -rf assets
!mkdir assets

test_df.to_csv(os.path.join("assets", "submission.csv"), index=False)

Note: Do take a look at the submission format.The submission file should contain the following header : filename,xRot.

Submitting our Predictions¶

Note : Please save the notebook before submitting it (Ctrl + S)¶

In [27]:

!aicrowd submission create -c autodri -f assets/submission.csv

submission.csv ━━━━━━━━━━━━━━━━━━ 100.0% • 600.0/598.3 KB • 442.5 kB/s • 0:00:00
                                                   ╭─────────────────────────╮                                                   
                                                   │ Successfully submitted! │                                                   
                                                   ╰─────────────────────────╯                                                   
                                                         Important links                                                         
┌──────────────────┬────────────────────────────────────────────────────────────────────────────────────────────────────────────┐
│  This submission │ https://www.aicrowd.com/challenges/ai-for-good-ai-blitz-3/problems/autodri/submissions/169711              │
│                  │                                                                                                            │
│  All submissions │ https://www.aicrowd.com/challenges/ai-for-good-ai-blitz-3/problems/autodri/submissions?my_submissions=true │
│                  │                                                                                                            │
│      Leaderboard │ https://www.aicrowd.com/challenges/ai-for-good-ai-blitz-3/problems/autodri/leaderboards                    │
│                  │                                                                                                            │
│ Discussion forum │ https://discourse.aicrowd.com/c/ai-for-good-ai-blitz-3                                                     │
│                  │                                                                                                            │
│   Challenge page │ https://www.aicrowd.com/challenges/ai-for-good-ai-blitz-3/problems/autodri                                 │
└──────────────────┴────────────────────────────────────────────────────────────────────────────────────────────────────────────┘
{'submission_id': 169711, 'created_at': '2021-12-24T11:02:07.013Z'}

To download the generated csv in Google Colab run the below command¶

In [ ]:

from google.colab import files
files.download('submission.csv')

Well Done! 👍 We are all set to make a submission and see your name on leaderborad. Lets navigate to challenge page and make one.¶

In [ ]:

Content

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