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DeepRacer for learning RL
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貞松政史
April 06, 2019
Technology
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1.3k
DeepRacer for learning RL
2019.4.6 Developers.IO at OKAYAMA.
貞松政史
April 06, 2019
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Transcript
4 D 29 26 1 . 0 I 1
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!&%$9( 6: Attention
3 #cmdevio2019
4 os t m ( L @S g E b
i _d L rMI D @ E ( ( ( ) ( e a n k AWS E
5 DeepRacer
6 D
7 ) (
8 …
9 DeepRacer 4 D 26 9 01 .
10 DeepRacer A A A
11
1 2 3
12 DeepRacer
13
14 DeepRacer 1/18
3D AWS DeepRacer League
15 DeepRacer https://aws.amazon.com/jp/deepracer/
16 DeepRacer ! &%$ +)*2 1 '/*2
(#-, 0. "
17 3D AWS RoboMaker Robot Operating System (ROS) Gazebo rqt
18 AWS DeepRacer League ⁻ 0 1 : 9 A
⁻ 9 2 R ⁻ ⁻ D I ⁻ 1 2 ⁻ https://aws.amazon.com/jp/deepracer/league/
19
20 (Artificial Intelligence, AI) (Machine Learning, ML)
NeuralNetwork DeepLearning
21
22 = 1 (
) ( (
23 L N - ) ( - D Q
24 DeepRacer Cliped PPO PPO (Proximal
Policy Optimization) OpenAI2017
25 ( ( )
)
26 1
27 ) () (
28 DeepRacer
29 DeepRacer + + +
30 DeepRacer
31 DeepRacer …
32 DeepRacer
33 orz
34 DeepRacer + + +
35 DeepRacer D A D
36 $ ' + (# &!
%"
37 ( ) ) https://docs.aws.amazon.com/ja_jp /deepracer/latest/developerguide/ deepracer-train-models-define- reward-function.html
38
39 ⁻ 10 ⁻
:
40 SageMaker RL + RoboMaker
41 SageMeker RLRoboMakerGA
42 SageMaker “RL” ⁻ ⁻ M ⁻ M M
⁻ M ⁻ ⁻ ⁻ J M S
43 DeepRacer ) D ( ) ) ( )
44 SageMaker
https://dev.classmethod.jp/machine -learning/sagemaker-robomaker- deepracer-sample/
45 $# "
! https://github.com/awslabs/amazon-sagemaker-examples
46 Jupyter !
47 ( ( )
48
49 2 1
50 2 2
51 (. ( )(
52 $2# " /1(+ $2#,- ! https://docs.aws.amazon.com/ja_jp/deepracer/latest/developerguide/deepracer -iteratively-enhance-reward-functions.html *
$2%) '.0& )
53 Best Practices when training with PPO
(Unity Technologies) https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Training-PPO.md
54 DeepRacer "% ! "%
$# ! !
55 DeepRacer
56 DeepRacer
57 DeepRacer
58 DeepRacer
59 DeepRacer
60
61 • g • + + • M D c
• R S D a k • b • LL e
62 DeepRacer
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