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強化学習による振り子の制御.pdf

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June 20, 2020
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 強化学習による振り子の制御.pdf

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Minagawa Kei

June 20, 2020
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Transcript

  1. ,FJ.JOBHBXB !LFJNJOB ڧԽֶशʹΑΔৼΓࢠͷ੍ޚ 1FOEVMVN7̌

  2. IUUQTLFJNJOBIBUFOBCMPHKQ

  3. ࠓճ͸ɺڧԽֶशͰ ৼΓࢠͷ੍ޚΛߦ͍·ͨ͠ɻ ͲͷΑ͏ͳ͜ͱΛߦ͍ɺ݁Ռ͕Ͳ͏ͳ͔ͬͨɺ ͬ͘͟Γͱઆ໌͠·͢

  4. ·ͣɺৼΓࢠͷಈ͖Λ1$Ͱ࠶ݱͰ͖ΔγϛϡϨʔλΛಋೖ͠·ͨ͠ɻ QJQJOTUBMMHZN ಈ͔͍ͨ͠ํ͸ೖΕ·͠ΐ͏ɻ

  5. JNQPSUHZN JNQPSUUJNF FOWHZNNBLF 1FOEVMVNW  FOWSFTFU  GPS@JOSBOHF  

    FOWTUFQ <>  FOWSFOEFS  UJNFTMFFQ  

  6. JNQPSUHZN JNQPSUUJNF FOWHZNNBLF 1FOEVMVNW  FOWSFTFU  GPS@JOSBOHF  

    FOWTUFQ <>  FOWSFOEFS  UJNFTMFFQ   τϧΫΛ༩͑ͯ̍εςοϓਐΊΔ
  7. None

  8. 1FOEVMVNWͷύϥϝʔλ͸ҎԼʹͳΓ·͢ɻ ্͔Βॱʹɺ֯౓ɺ֯଎౓ɺτϧΫͰ͢ɻ ֯౓ɺ֯଎౓͸ঢ়ଶΛද͠·͢ɻ τϧΫ͸ߦಈΛද͠·͢ɻ ˞ύϥϝʔλͷऔΓ͏Δ஋ʹ͍ͭͯ͸ҎԼͷαΠτʹهࡌ͞Ε͍ͯ·͢ ɹIUUQTHJUIVCDPNPQFOBJHZNXJLJ1FOEVMVNW

  9. ֶशΞϧΰϦζϜͷ࿩

  10. ڧԽֶशͰग़ͯ͘Δొ৔ਓ෺ ঢ়ଶTͷ࣌ɺํࡦКʹै͍ߦಈBΛߦ͏ͱɺঢ়ଶભҠ֬཰Qʹै͍ɺ ঢ়ଶ͕TʹભҠ͠ɺใुSΛಘΔɻ ڧԽֶशͷΞϧΰϦζϜ͸ɺใुSͷ૯࿨͕࠷େͱͳΔΑ͏ͳɺ TͱBͷ૊Έ߹ΘͤΛݟ͚ͭग़͢Α͏ʹͳ͍ͬͯ·͢ɻ T B T Q К

  11. ొ৔ਓ෺Λ࢖༻͠ɺ 1 3 W RΛࣜ     ͷΑ͏ʹఆٛ͠·͢

    ˞ࢀߟจݙʮݱ৔Ͱ࢖͑Δʂ1ZUIPOਂ૚ڧԽֶशೖ໳ڧԽֶशͱਂ૚ֶशʹΑΔ୳ࡧͱ੍ޚʯ 1 1ΑΓҾ༻

  12. ࠓճ࢖༻͢ΔڧԽֶशͷֶशΞϧΰϦζϜ͸ҎԼʹͳΓ·͢ɻ લทͷࣜ     ΛܭࢉͰٻΊ·͢ɻ શͯͷTʹ͍ͭͯࣜ  ͷR͕࠷େͱͳΔB

    ߦಈ ΛٻΊ·͢ɻ ํࡦКʹ্هT BΛ༩͑ͨ࣌ɺͦͷ֬཰͕ʹͳΔΑ͏ʹํࡦΛߋ৽͠·͢ɻ ্هΛ܁Γฦ͠·͢ɻ ˞্ه͸ɺֶशΞϧΰϦζϜͷҰͭͰ͢ɻ

  13. લॲཧ ࠓճ͸ɺ֯౓ͳͲͷύϥϝʔλͷ஋Λ཭ࢄԽ͠·͢ɻ ཭ࢄԽ͢Δͱঢ়ଶભҠ֬཰͸ҎԼͷΑ͏ͳදͰදݱͰ͖·͢ɻ  >  >  > 

    >  >  >  >  >  >      >      >  >      >      >  >  >      >      >  >      >    

  14. ֶशΞϧΰϦζϜΛ࢖༻͠ɺίʔυΛ࣮૷͠·ͨ͠ ˣ IUUQTHJTUHJUIVCDPNLFJNJOBBGGDCCBCB

  15. ݁Ռ

  16. None

  17. ߟ࡯ ɾͰ͖Δ্͚ͩ෦ʹ͍͘Α͏ʹɺ΍ΕΔൣғͰؤு͍ͬͯΔΑ͏ʹݟ͑Δ ɾ্ʹͱͲ·Δͷ͕࠷దղ͔ͱࢥ͕ͬͨɺ࣮ࡍ͸ͦ͏ͳΒͳ͔ͬͨ ɹɹɾ·ͩɺ࠷దղʹͨͲΓ͍͍ͭͯͳ͍ ɹɹɾ཭ࢄԽͨ͠ঢ়ଶͰ͸͜Ε͕࠷దͰ͋ΔՄೳੑ ɹɹɾ্ʹͱͲ·Δͷ͕࠷దͱࢥ͍ͬͯΔਓ͕ؒؒҧ͍ͬͯΔ ɹɹɾ࣮૷͕ؒҧ͍ͬͯΔՄೳੑ ·ͱΊ ڧԽֶशͰৼΓࢠͷ੍ޚΛߦ͍·ͨ͠

  18. ࢀߟจݙ ݱ৔Ͱ࢖͑Δʂ1ZUIPOਂ૚ڧԽֶशೖ໳ڧԽֶशͱਂ૚ֶशʹΑΔ୳ࡧͱ੍ޚ IUUQTXXXTIPFJTIBDPKQCPPLEFUBJM ͜Ε͔ΒͷڧԽֶश IUUQTXXXNPSJLJUBDPKQCPPLTCPPL