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muleAI is a lightweight python library that facilitates research and development in autonomous mobility at RC-scale.

Mule: the love-child issuing from a male donkey (a jack) and a mare. Reliable. Sure footed. Even tempered. Gets you from point A to B.

muleAI was inspired by the DonkeyCar project. muleAI is a systematic ground-up re-implementation of some core functionality with some priorities in mind:

• A project for more experienced developers
• Simplicity and consistency in modular design
• Clean, well-structured implementation conforming to standard software design principles

Release candidate 1.0

Dependencies

Tensor flow 1.8 (includes keras as tf.keras)

Features

1. Extended configuration YAML file
   • As much as possible is exposed to configuration, allowing rapid changing of parameters during racing days
2. Command line interface using click
3. Modular part classes inherit from Abstract Base Class
   • Enforce proper interface for all new parts
   • Include default behaviors such as class strings
4. Extensive logging messages throughout the project, for faster debugging
5. New adjustment method for PS3 controller, DPad selects a value, and up/down to change the value allowing performance changes as the car is driving
6. Images are saved directly to numpy arrays

Changes

1. No support for any installation or setup method - project is run directly from the git directory.
2. Linux and Mac OS are tested, not Windows
3. Training of models is left up to the user, in a separate module