Developing a Modular Training System for a Fully Differentiable Stack on F1TENTH Autonomous Race Cars

Institut

Professur für autonome Fahrzeugsysteme

Typ

Masterarbeit /

Inhalt

experimentell / theoretisch /  

Beschreibung

In the AVS lab, we are constantly innovating the way autonomous systems are developed, tested, and optimized. With access to 1/10th scale race cars and full-scale autonomous vehicles, our lab offers a unique platform for cutting-edge research in autonomous driving. This thesis focuses on implementing a training system for a fully differentiable software stack used in F1TENTH autonomous race cars.

Traditional training approaches often involve training individual models sequentially. However, with the rise of fully differentiable stacks, where every module can be trained based on its own loss function, this method becomes inefficient. Instead, a holistic approach where all modules are trained simultaneously is necessary to ensure optimal performance. This approach enables real-time policy adjustments during autonomous races, ensuring fast and adaptive decision-making.

 

Key Work Packages:

• Conduct literature research on differentiable algorithms and training systems.
• Design a modular and extendable training system for F1TENTH race cars.
• Implement training techniques to simultaneously train multiple modules in the differentiable stack.
• Ensure the training system supports real-time policy adjustments during autonomous races.
• Validate the system in both simulation and real-world testing environments.
• Make the system extendable for future updates and modules.

Voraussetzungen

Requirements:

• Coding experience (Python, PyTorch)
• Framework experience (ROS 1/2, Git)
• Curious mindset
• Independent and organized work attitude
• Open-minded team player

Your Benefits:

• Fascinating, future-oriented field of research
• Young and dynamic team
• Academic and professional support beyond the thesis
• Organized and structured thesis project
• If suitable, publication as a scientific paper
• Thesis project in German or English

The thesis can be started immediately. Please send your resume, recent grade report, and a brief description of your fields of interest and why you are the perfect fit for this thesis to felix.jahncketum.de.

I am always on the lookout for motivated and committed students and look forward to receiving your application so we can work together on the mobility of tomorrow.

Tags

AVS Jahncke

Möglicher Beginn

sofort

Kontakt

Felix Jahncke
Tel.: +49-89-28910429
felix.jahncketum.de