schaeferka / deepracer-simapp

Extract from AWS DeepRacer Robomaker Bundle

AWS DeepRacer Robomaker Image

This repository contains the extracts from the AWS DeepRacer Robomaker simapp; including

• the environment and tracks
• the robotics agent code ('markov')
• Dockerfile

Available pre-built versions

In most cases it will be sufficient to use one of our pre-built images which use optimized Tensorflow binaries. Depending on how modern processor you have available you can pick which instruction sets to use.

• AVX is available on most Intel Core processors from the second generation on - running DeepRacer on an older processor really does not make sense; hence we do not have pre-built images without this instruction set.
• AVX2 is available on more modern Intel Core processors; starting from the Haswell architecture (4th generation), and is probably the image most will use.
• AVX-512 was available on newer Xeon and Core i7-X processors. Due to convergence issues it has been removed.
• GPU uses Tensorflow-GPU instead of CPU. It is not compiled with special instruction sets for the CPU.

Built images are available via docker pull awsdeepracercommunity/deepracer-robomaker:<tag>.

Available tags are:

Version 5

Version 5 was the current development version for 2022.

Version	Comment	AVX	AVX2	GPU
5.0.0	Initial release	5.0.0-cpu-avx 5.0.0-cpu-gl-avx	5.0.0-cpu-avx2 5.0.0-cpu-gl-avx2	5.0.0-gpu 5.0.0-gpu-gl
5.0.1	April Track	5.0.1-cpu-avx 5.0.1-cpu-gl-avx	5.0.1-cpu-avx2 5.0.1-cpu-gl-avx2	5.0.1-gpu 5.0.1-gpu-gl
5.0.2	May Track	5.0.2-cpu-avx 5.0.2-cpu-gl-avx	5.0.2-cpu-avx2 5.0.2-cpu-gl-avx2	5.0.2-gpu 5.0.2-gpu-gl
5.0.3	June Track	5.0.3-cpu-avx 5.0.3-cpu-gl-avx	5.0.3-cpu-avx2 5.0.3-cpu-gl-avx2	5.0.3-gpu 5.0.3-gpu-gl
5.0.4	July Track	5.0.4-cpu-avx 5.0.4-cpu-gl-avx	5.0.4-cpu-avx2 5.0.4-cpu-gl-avx2	5.0.4-gpu 5.0.4-gpu-gl
5.0.5	August Track	5.0.5-cpu-avx 5.0.5-cpu-gl-avx	5.0.5-cpu-avx2 5.0.5-cpu-gl-avx2	5.0.5-gpu 5.0.5-gpu-gl
5.0.6	September Track	5.0.6-cpu-avx 5.0.6-cpu-gl-avx	5.0.6-cpu-avx2 5.0.6-cpu-gl-avx2	5.0.6-gpu 5.0.6-gpu-gl
5.0.7	October & Reinvent 2022 Tracks	5.0.7-cpu-avx 5.0.7-cpu-gl-avx	5.0.7-cpu-avx2 5.0.7-cpu-gl-avx2	5.0.7-gpu 5.0.7-gpu-gl
5.0.8	Updates to Reinvent 2022 Tracks	5.0.8-cpu-avx 5.0.8-cpu-gl-avx	5.0.8-cpu-avx2 5.0.8-cpu-gl-avx2	5.0.8-gpu 5.0.8-gpu-gl
5.0.9	Minor updates and fixes	5.0.9-cpu-avx 5.0.9-cpu-gl-avx	5.0.9-cpu-avx2 5.0.9-cpu-gl-avx2	5.0.9-gpu 5.0.9-gpu-gl
5.0.10 (*)	Tracks expanded with CW and CCW tracks	5.0.10-cpu-avx 5.0.10-cpu-gl-avx	5.0.10-cpu-avx2 5.0.10-cpu-gl-avx2	5.0.10-gpu 5.0.10-gpu-gl

(*) 5.0.10 received a patch on 15-MAR-2023 due to a correction of the arctic_pro_ccw and arctic_pro_cw tracks, and on 17-MAR-2023 with an update on all _cw and _ccw tracks.

Version 4

Version 4 is retired.

Version	Comment	AVX	AVX2	GPU
4.0.13	2022 March Track	4.0.13-cpu-avx 4.0.13-cpu-gl-avx	4.0.13-cpu-avx2 4.0.13-cpu-gl-avx	4.0.13-gpu 4.0.13-gpu-gl

Building the image

To build the CPU image run docker build -t awsdeepracercommunity/deepracer-robomaker:cpu -f docker/Dockerfile.cpu . --build-arg TENSORFLOW_VER='tensorflow==1.11.0

To build the GPU image run docker build -t awsdeepracercommunity/deepracer-robomaker:gpu -f docker/Dockerfile.gpu .

To add a custom tensorflow library run docker build -t awsdeepracercommunity/deepracer-robomaker:cpu -f docker/Dockerfile.cpu . --build-arg TENSORFLOW_VER=<http-url-to-file>

Tensorflow build

Tensorflow has been built with the following parameters:

• cpu-avx with -march=x86-64 -maes -mavx -mmmx -mpclmul -mpopcnt -msse -msse2 -msse3 -msse4.1 -msse4.2 -mssse3
• cpu-avx2 with -march=x86-64 -maes -mavx -mavx2 -mmmx -mpclmul -mpopcnt -msse -msse2 -msse3 -msse4.1 -msse4.2 -mssse3 -mf16c -mfma