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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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強化学習による振り子の制御.pdf
Minagawa Kei
June 20, 2020
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Transcript
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FOWTUFQ <> FOWSFOEFS UJNFTMFFQ
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1FOEVMVNWͷύϥϝʔλҎԼʹͳΓ·͢ɻ ্͔Βॱʹɺ֯ɺ֯ɺτϧΫͰ͢ɻ ֯ɺ֯ঢ়ଶΛද͠·͢ɻ τϧΫߦಈΛද͠·͢ɻ ˞ύϥϝʔλͷऔΓ͏Δʹ͍ͭͯҎԼͷαΠτʹهࡌ͞Ε͍ͯ·͢ ɹIUUQTHJUIVCDPNPQFOBJHZNXJLJ1FOEVMVNW
ֶशΞϧΰϦζϜͷ
ڧԽֶशͰग़ͯ͘Δొਓ ঢ়ଶTͷ࣌ɺํࡦКʹै͍ߦಈBΛߦ͏ͱɺঢ়ଶભҠ֬Qʹै͍ɺ ঢ়ଶ͕TʹભҠ͠ɺใुSΛಘΔɻ ڧԽֶशͷΞϧΰϦζϜɺใुSͷ૯͕࠷େͱͳΔΑ͏ͳɺ TͱBͷΈ߹ΘͤΛݟ͚ͭग़͢Α͏ʹͳ͍ͬͯ·͢ɻ T B T Q К
ొਓΛ༻͠ɺ 1 3 W RΛࣜ ͷΑ͏ʹఆٛ͠·͢
˞ࢀߟจݙʮݱͰ͑Δʂ1ZUIPOਂڧԽֶशೖڧԽֶशͱਂֶशʹΑΔ୳ࡧͱ੍ޚʯ 1 1ΑΓҾ༻
ࠓճ༻͢ΔڧԽֶशͷֶशΞϧΰϦζϜҎԼʹͳΓ·͢ɻ લทͷࣜ ΛܭࢉͰٻΊ·͢ɻ શͯͷTʹ͍ͭͯࣜ ͷR͕࠷େͱͳΔB
ߦಈ ΛٻΊ·͢ɻ ํࡦКʹ্هT BΛ༩͑ͨ࣌ɺͦͷ͕֬ʹͳΔΑ͏ʹํࡦΛߋ৽͠·͢ɻ ্هΛ܁Γฦ͠·͢ɻ ˞্هɺֶशΞϧΰϦζϜͷҰͭͰ͢ɻ
લॲཧ ࠓճɺ֯ͳͲͷύϥϝʔλͷΛࢄԽ͠·͢ɻ ࢄԽ͢Δͱঢ়ଶભҠ֬ҎԼͷΑ͏ͳදͰදݱͰ͖·͢ɻ > > >
> > > > > > > > > > > > > > > > >
ֶशΞϧΰϦζϜΛ༻͠ɺίʔυΛ࣮͠·ͨ͠ ˣ IUUQTHJTUHJUIVCDPNLFJNJOBBGGDCCBCB
݁Ռ
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ߟ ɾͰ͖Δ্͚ͩ෦ʹ͍͘Α͏ʹɺΕΔൣғͰؤு͍ͬͯΔΑ͏ʹݟ͑Δ ɾ্ʹͱͲ·Δͷ͕࠷దղ͔ͱࢥ͕ͬͨɺ࣮ࡍͦ͏ͳΒͳ͔ͬͨ ɹɹɾ·ͩɺ࠷దղʹͨͲΓ͍͍ͭͯͳ͍ ɹɹɾࢄԽͨ͠ঢ়ଶͰ͜Ε͕࠷దͰ͋ΔՄೳੑ ɹɹɾ্ʹͱͲ·Δͷ͕࠷దͱࢥ͍ͬͯΔਓ͕ؒؒҧ͍ͬͯΔ ɹɹɾ࣮͕ؒҧ͍ͬͯΔՄೳੑ ·ͱΊ ڧԽֶशͰৼΓࢠͷ੍ޚΛߦ͍·ͨ͠
ࢀߟจݙ ݱͰ͑Δʂ1ZUIPOਂڧԽֶशೖڧԽֶशͱਂֶशʹΑΔ୳ࡧͱ੍ޚ IUUQTXXXTIPFJTIBDPKQCPPLEFUBJM ͜Ε͔ΒͷڧԽֶश IUUQTXXXNPSJLJUBDPKQCPPLTCPPL