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DeepRacerで始める機械学習
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tandfy
October 11, 2019
Programming
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1.7k
DeepRacerで始める機械学習
tandfy
October 11, 2019
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Transcript
%FFQ3BDFSͰ࢝ΊΔػցֶश σʔλΞφϦςΟΫεࣄۀຊ෦ΠϯςάϨʔγϣϯ෦ େᖒ༐ే
ࣗݾհ େᖒ༐ే σʔλΞφϦςΟΫεࣄۀຊ෦ΠϯςάϨʔγϣϯ෦ ػցֶशνʔϜΤϯδχΞ ݄ೖࣾ ݄ҭٳ ݱࡏɺࣾձ෮ؼத
ࠓ͢͜ͱ w"84%FFQ3BDFSͱ wػցֶशͷ֓ཁ w"84ʹ͓͚ΔػցֶशαʔϏε w"84%FFQ3BDFSͰԿΛͲ͏ֶΔͷ͔ w"84%FFQ3BDFSΛ࣮ࡍʹͬͯΈΔ όʔνϟϧϦʔάฤ
εϥΠυޙͰೖख͢Δ͜ͱ͕ग़དྷ·͢ͷͰ ൃදதͷ༰ΛϝϞ͢Δඞཁ͋Γ·ͤΜɻ ࣸਅࡱӨΛ͢Δ߹ ϑϥογϡɾγϟολʔԻ͕ग़ͳ͍Α͏ʹྀ͍ͩ͘͝͞ Attention
"84%FFQ3BDFS
https://aws.amazon.com/jp/deepracer/
"84%FFQ3BDFS "84্ͰϞσϧΛֶशͤͯ͞ɺϥδίϯͰࣗಈӡస wϚωδϝϯτίϯιʔϧ͔ΒϞσϧΛֶश wεέʔϧͷϥδίϯʹϞσϧΛࡌͤΔ͜ͱͰࣗಈӡస wόʔνϟϧϦʔάʹϞσϧΛαϒϛοτ͠ɺϥοϓλΠϜΛڝ͏ w"84SF*OWFOU"844VNNJUͰͷ%FFQSBDFS-FBHVFͰ࣮ࡍ ʹΒͤͯϥοϓλΠϜΛڝ͏
https://aws.amazon.com/jp/deepracer/
Ϛωδϝϯτίϯιʔϧ
"84%FFQ3BDFS-FBHVF
Ϟσϧͷֶश
γϛϡϨʔγϣϯ ֶशॳظ
γϛϡϨʔγϣϯ ͋Δఔֶशͨ͠ஈ֊
ػցֶश
ػցֶश֓ཁ ͬ͘͟Γݴ͏ͱنଇੑΛֶशͤ͞Δ͜ͱɻ wڭࢣ͋Γֶश͑Λ༩͑ͯೖྗͱ͑ͷنଇੑΛֶशͤ͞Δ wڭࢣͳֶ͠शɿ͑Λ༩͑ͣʹೖྗͷنଇੑΛֶशͤ͞Δ wڭࢣ͋Γֶशɿجຊతʹ͑Λ༩͑ͣʹೖྗͷنଇੑΛֶशͤ͞ Δ͕ɺ෦తʹ͑Λ༩͑ͯิॿ͢Δ wڧԽֶशɿ͋ΔڥͰใु͕࠷େԽ͢ΔߦಈબͷنଇੑΛֶशͤ͞Δ ͳͲ
χϡʔϥϧωοτϫʔΫ֓ཁ ϑΟʔυϑΥϫʔυ χϡʔϥϧωοτϫʔΫ wೖྗ wόονσʔληοτ͔ΒϥϯμϜʹநग़ wΤϙοΫಉ͡σʔληοτΛ͏ճ wग़ྗ wೖྗ͕//Λ௨ͬͯग़͖ͯͨͷ wྫ
dͷ࣮ͳͲ
ػցֶशྫ ҟৗݕग़
ػցֶशྫ ୯ޠͷຒΊࠐΈ
ػցֶशྫ ΫϥελϦϯά
ڧԽֶश֓ཁ ڥ͔ΒΤʔδΣϯτʹঢ়ଶ ΤʔδΣϯτ͕ঢ়ଶʹج͍ͮͯ ߦಈ ڥ͕ߦಈ݁Ռʹج͍ͮͨใु ΛΤʔδΣϯτ
dΛ܁Γฦ͢ ظతʹ࠷େใु͕Β͑ΔߦಈΛબͿΑ͏ʹֶश͢Δ
%FFQ3BDFSͰΘΕ͍ͯΔख๏ 1SPYJNBM1PMJDZ0QUJNJ[BUJPO https://nervanasystems.github.io/coach/components/agents/policy_optimization/ppo.html
%FFQ3BDFSͰΘΕ͍ͯΔख๏ 1SPYJNBM1PMJDZ0QUJNJ[BUJPO https://nervanasystems.github.io/coach/components/agents/policy_optimization/ppo.html ը૾͔ΒಛΛऔΓग़ͯ͠ ߦಈఆܨ͕ΔมΛͯ͠ ֤ߦಈͷ֬Λग़ྗ͢Δ
%FFQ3BDFSͰΘΕ͍ͯΔख๏ 1SPYJNBM1PMJDZ0QUJNJ[BUJPO https://nervanasystems.github.io/coach/components/agents/policy_optimization/ppo.html PPOͷޣຯ/৽نੑత͕ؔ…
%FFQ3BDFSͰΘΕ͍ͯΔख๏ 1SPYJNBM1PMJDZ0QUJNJ[BUJPO https://nervanasystems.github.io/coach/components/agents/policy_optimization/ppo.html PPOͷޣຯ/৽نੑత͕ؔ… ͱ͍͏ײ͡Ͱਂ۷Γ͢Ε৭ʑग़ͯ͘ΔͷͰ ڵຯ͕͋ΔํͥͻௐͯΈ͍ͯͩ͘͞
"84ʹ͓͚Δػցֶश
"84ʹ͓͚Δػցֶश
"84ʹ͓͚Δػցֶश ࠓճؔ͢Δͷʜ
"84ʹ͓͚Δػցֶश ࠓճؔ͢Δͷʜ Ϟσϧͷֶश
"NB[PO4BHF.BLFS ػցֶशͷϑϧϚωʔδυαʔϏε w+VQZUFSϊʔτϒοΫͷϗεςΟϯά wػցֶशϞσϧͷֶश wػցֶशϞσϧͷϗεςΟϯά wϥϕϧ͚ͮ Ξϊςʔγϣϯ ͷཧ ͳͲ
DeepRacerͰ༻
"84ʹ͓͚Δػցֶश ࠓճؔ͢Δͷʜ AWS RoboMaker Ϟσϧͷֶश γϛϡϨʔγϣϯ
"843PCP.BLFS ϩϘοτΞϓϦέʔγϣϯͷ։ൃΛαϙʔτ͢ΔαʔϏε wϑϧϚωʔδυͳγϛϡϨʔγϣϯαʔϏε w$MPVEͱ࿈ܞͨ͠։ൃڥ w304ͷΫϥυ֦ு wϑϦʔτϚωδϝϯτ ͳͲ DeepRacerͰ༻
"84%FFQ3BDFS վΊͯ
"84%FFQ3BDFS RoboMakerͰͷγϛϡϨʔγϣϯͱ SageMakerͰͷϞσϧͷֶशΛ܁Γฦ͢
ϞσϧΛֶशͤͯ͞ https://console.aws.amazon.com/deepracer/home?region=us-east-1#welcome
"84%FFQ3BDFS-FBHVFʹग़ͯ https://console.aws.amazon.com/deepracer/home?region=us-east-1#leaderboards
ϥϯΧʔʜ
%FFQ3BDFSͰ ԿΛͲ͏ֶΔͷ͔
ػցֶशλεΫͷઃܭϞσϧͷվળʹ͍ͭͯମݧ&ֶΔ
ԿΛֶΔͷ͔ʜ wػցֶशλεΫͷઃܭ wϞσϧͷվળ wϋΠύʔύϥϝʔλͷௐ ͳͲ
ػցֶशλεΫͷઃܭ wػցֶशΛͬͨͷղ͖ํͷམͱ͠ࠐΈ wใुؔͷઃܭ wୡ͢Δͷ͕͍͠తΛؒతʹୡͰ͖ΔΑ͏ͳαϒλεΫͷઃఆ ͳͲʹྨࣅ wϥοϓλΠϜ͕͘͢ΔͨΊʹͲ͏ΒͤΕɺͲ͏ֶशͤ͞Εʜ
ใुؔ
ߦಈύλʔϯ
Ϟσϧͷվળ wγϛϡϨʔγϣϯϩάΛͬͨϞσϧͷಛੳ wҙਤͨ͠௨Γʹֶशͯ͠Δ͔ɺͬͯΔ͔Λ֬ೝ͠ɺվળʹ ͭͳ͛Δ w࣮ݧͷ܁Γฦ͠
ใु
Τϯτϩϐʔ
ϋΠύʔύϥϝʔλͷௐ wϞσϧͷֶशͷਐΊํΛௐ͢Δ wχϡʔϥϧωοτϫʔΫޯ߱Լ๏ɺ110ͳͲͷಛੑʹԠ ͨ͡࠷దԽ
%FFQ3BDFSʹ͓͚ΔϋΠύʔύϥϝʔλ
ԿΛֶΔͷ͔ʜ wػցֶशλεΫͷઃܭ wػցֶशΛͬͨͷղ͖ํͷམͱ͠ࠐΈ w͍ϥοϓλΠϜ͕ग़͍ͨ͠Ͳ͏ΒͤΕɺͲ͏ֶशͤ͞Ε͍͍ͷ͔ʜ wϞσϧͷվળ wγϛϡϨʔγϣϯϩάΛͬͨϞσϧͷಛੳ wҙਤͨ͠௨Γʹֶशͯ͠Δ͔ɺͬͯΔ͔֬ೝ͠ɺվળʹͭͳ͛Δ wϋΠύʔύϥϝʔλͷௐ wϞσϧͷֶशͷਐΊํΛௐ͢Δ
%FFQ3BDFSΛͬͯΈΔ
Ϛωδϝϯτίϯιʔϧ
ϞσϧҰཡ
Ϟσϧ࡞
Ϧιʔεͷ࡞
Ϟσϧ໊
ίʔεબ
ߦಈઃఆ
ߦಈύλʔϯ
ใुؔ
ใुؔͷαϯϓϧ
ϋΠύʔύϥϝʔλ
ֶश࣌ؒ
ֶश։࢝
ϞσϧҰཡ
ֶशը໘
3PCP.BLFSͷγϛϡϨʔγϣϯπʔϧ
(B[FCPͰͷγϛϡϨʔγϣϯը໘
ֶशྃ
όʔνϟϧϦʔά
όʔνϟϧϦʔά
όʔνϟϧϦʔάʹొ͢Δ
ԾϦʔάʹొ͢Δ
ԾϦʔάʹొ͢Δ
Ϟσϧαϒϛοτޙ
ϞσϧධՁத
ϞσϧධՁྃ ͤͣ…
ϦʔμʔϘʔυ
·ͱΊ
·ͱΊ w%FFQ3BDFSͰػցֶशɺڧԽֶशʹ৮ΕΔ͜ͱ͕Ͱ͖Δ wࣄલࣝ΄ͱΜͲඞཁͳ͘ɺखܰʹ࢝ΊΒΕΔ wແྉ͋ΔͨΊɺͱΓ͋͑ͣͬͯΈΔͷ͕͓͢͢Ί wͨͩ͠ɺແྉΛ͑Δͱ҆͘ͳ͍ͷͰɺΓ͗͢ҙ ڵຯΛ࣋ͬͨ༰ΛͲΜͲΜ۷ΓԼ͍͛ͯͬͯ Ώ͘Ώ͘ػցֶशڧऀʜ
͋Γ͕ͱ͏͍͟͝·ͨ͠