Zima · 2025-11-22 · 4 hours
Goal: evaluate the policy in real life and iterate
What I did:
- reduced max wheel speed and compromised on camera resolution - fps tradeoff, reducing motion blur
- tried on device inference - fail
- added frame stacking / image history input to model, hoping to improve real world performance
What worked:
- fine tuning on just real world data for a few epochs improves real world performance noticeably
What failed:
- wasted more time trying to get camera driver to work, to no avail
- on device inference caused brownout?
- image stacking is starting to eat into my gpu memory, had to reduce batch size to 32 to not run out of mem
- Model with shortened action history (4) was not able to do proper search behavior
Key learning:
- Real world is difficult
Next session:
- Collect more real world data
- test new image stacked model in real life
Time spent: 4 hours