ML Fall state detection - #1899

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alexschmander wants to merge 40 commits into

alexschmander:tinyml-fall-state-prediction

Commits on Jul 9, 2025

Initial fall detection commit
alexschmander
committed
4c77fe5
Make it train

knoellle
authored and
alexschmander
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10947fe
Save tflite model

knoellle
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alexschmander
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64fbd0a
Add minimal tflite inference node
alexschmander
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09f4a1e
Initial dirty dataset pipeline
alexschmander
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d61107e
Built mcap to dataset pipeline

knoellle
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alexschmander
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4119072
Clean up

knoellle
authored and
alexschmander
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2541967
Implement proper labelling

knoellle
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alexschmander
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e79517f
Generate dataset from multiple mcap files and fix training

knoellle
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alexschmander
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4f3ce30
Run the model on the nao

knoellle
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alexschmander
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841716a
Limit tflite to one thread

knoellle
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alexschmander
committed
901e194
Clean up

knoellle
authored and
alexschmander
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843addb
Use actual sensor data for inference

knoellle
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alexschmander
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5bcf79c
Print mcap path while converting to parquet
alexschmander
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19b3269
Dataset class balancing
alexschmander
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06cb8e4
Clean up
alexschmander
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7c3d636
Add LSTM training
alexschmander
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5d082e2
Matplotlib -> plotly
alexschmander
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d7febcc
Fix training LSTM using CUDA
alexschmander
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f0a5d08
Generate fake `robot_orientation` for tinyml in sim
alexschmander
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ea6e9d7
Clean up
alexschmander
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add47d1
Merge train history and confusion matrix figure
alexschmander
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83057f3
Update architecture, add `BatchNormalization` layers
alexschmander
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879ab2a
Don't fail export on mcap read error
alexschmander
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c4f4053
Add data path option
alexschmander
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b6d0f9c
Add wandb logging
alexschmander
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d81aa17
Add wandb project name
alexschmander
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155b80b
Add code as artifact

knoellle
authored and
alexschmander
committed
a47a633
Use 2D convolution with 4,1 stride

knoellle
authored and
alexschmander
committed
124fc39
Save artifact
alexschmander
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322aa46

Commits on Jul 10, 2025

Add wandb config
alexschmander
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b68b423
Change used features to direct imu sensor data
alexschmander
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395df07
Simplify data windowing
alexschmander
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e73bef7

Commits on Jul 13, 2025

New labels: `Stable`, `SoonToBeUnstable`
alexschmander
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bc5da31
Group data also over game phase
alexschmander
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d4df1d6

Commits on Jul 16, 2025

Dynamic `label_shift` dataset generation
alexschmander
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56e8d16
Improve training stability
alexschmander
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8d0ed63

Commits on Jul 17, 2025

Final tinyml setup
alexschmander
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51887cf
Correct fall state detection inference input
alexschmander
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7edfd5d
Add final test accuracies and test plots
alexschmander
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278f2c1