Upgrade to Pro — share decks privately, control downloads, hide ads and more …

DeepRacerに挑戦してみた

E671432ee32b78dfa0514cc77e0ac556?s=47 okiyasu
November 23, 2019
Programming
0
140

 DeepRacerに挑戦してみた

DeepRacerを色々とやってみたという話

E671432ee32b78dfa0514cc77e0ac556?s=128

okiyasu

November 23, 2019
Tweet

More Decks by okiyasu

See All by okiyasu
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
31
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
180
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
140
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
260
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
150
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
160
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
230
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
330
E671432ee32b78dfa0514cc77e0ac556?s=48 okiyasu
0
25

Other Decks in Programming

See All in Programming
3c9c5f9a91cac73073db8bb2903bd968?s=48 mamy1326
12
3k
6aaaf03c4f5c681d89c3078bd6070a6f?s=48 rumi_yamaguchi
0
1.4k
52c76fb01bb5d1908f91b0231a44a7b5?s=48 boriswilhelms
0
130
D3be793aaf76ed1915295001712ce0f1?s=48 jrfk
0
310
42a6a049ac8f5265f31858a9509217fb?s=48 uhooi
3
160
Dd280d6d98be3c13dfa14d63dde92299?s=48 fuga0618
0
240
30e63a1ad21d3944b288fc3d33d1e920?s=48 amrrs
0
140
57e5f749a4ee962a6cfb2197c160c577?s=48 maeda8
0
180
6e704ad00f166b420eba3d174713c82b?s=48 urushiyama
0
380
Ae7a5166a7b7776ffdd5676c2d6ab42f?s=48 aseiide
1
240
15934fa2aa7b2ce21f091e9b7cffa856?s=48 manfredsteyer
PRO
0
200
7028eb7f1d5bf62b440e4e6894c4922c?s=48 bosshawk
0
520

Featured

See All Featured
B3d6434763caa0ef5dc4b792662c49f7?s=48 smashingmag
236
18k
96270e4c3e5e9806cf7245475c00b275?s=48 addyosmani
315
21k
Fe6b81005d1553accd6b2a28f6a2bef1?s=48 phodgson
92
4.2k
5f2da528927a2ec9ba4fec2069cbc958?s=48 kneath
298
39k
1b75d89772b7eea1f6c89fbf362607d9?s=48 moore
129
22k
7edec06b5435e0dac07a353b2cc26253?s=48 geeforr
336
30k
5b9fe87ec1faa67a4599782930f45ec9?s=48 sstephenson
149
12k
06f8b41980eb4c577fa40c41d5030c19?s=48 keathley
25
930
719435d98d452de7ac367c828266cf01?s=48 erikaheidi
29
5.1k
95d9f37115fbb0d13135d0f77132f856?s=48 morganepeng
99
15k
E76911cbe088e5b850d966de3fc7435b?s=48 robhawkes
56
3k
9128d500301ae51524e887bb680f471d?s=48 caitiem20
314
18k

Transcript

  1. DeepRacerʹ௅ઓͯ͠Έͨʂ START YOUR ENGINE!! 2019/11/23 ࢛ࠃΫϥ΢υ͓ว࿏2019 ಙౡ JAWS-UG Ѫඤɹԭ ོ҆

  2. ࣗݾ঺հ ݩεʔύʔܦӦ ࣮Ո  +"846(Ѫඤ LJOUPOF$BGÉѪඤ 5XJMJP+16(Ѫඤ ͘͞ΒΫϥϒѪඤ 403"$0.6(4IJLPLV +1@4USJQFT

    ۀ຿ϋοΫ ૔ݿ൪఻ಓࢣʢఱ࠽ೝఆূ൪อ༗ʣ αΠϘ΢ζެೝLJOUPOFΤόϯδΣϦετ LJOUPOF"TTPDJBUF LJOUPOF"QQ%FTJHO4QFDJBMJTU LJOUPOF$VTUPNJ[BUJPO4QFDJBMJTU "84ೝఆιϦϡʔγϣϯΞʔΩςΫτrΞιγΤΠτ "84ೝఆσϕϩούʔrΞιγΤΠτ ԭོ҆ʢ͓͖΍͔ͨ͢ʣ

  3. དྷि͸ɺre:Invent2019ʹߦ͖·͢ʢ4ճ໨ʣ

  4. DeepRacerͬͯ஌ͬͯ·͢ʁ ➤ લʹΧϝϥ͕෇͍ͯͯɺը૾Λݟͯίʔ εΛ૸Γ·͢ ➤ ڧԽֶशͱ͍͏࢓૊ΈͰ૸ΓํΛ֮͑· ͢ ➤ ֶशͷ΍Γํ͸௒γϯϓϧɻifͱܭࢉ͕ࣜ ॻ͚Ε͹े෼Ͱ͢

    ➤ ཪଆͷ໘౗ͳ͜ͱ͸AWS DeepRacerଆͰ ΍ͬͯ͘Ε·͢ ➤ λΠϜ͕ग़ͯɺੈքதͰڝ૪ʹͳΔͷͰ ೤͘ͳΓ·͢ʂ

  5. Ϙλϯ̍ͭͰ͜Μͳߏ੒͕ࣗಈͰ࡞੒͞Ε·͢

  6. Կ͕ྑ͍͔ͱ͍͏ͱ ➤ ࢼͦ͏ͱͯ͠΋ɺಈ࡞͢Δ؀ڥΛߏங͢Δஈ֊Ͱ͏·͍͔ͣ͘࠳ં͢Δ ➤ खॻ͖จࣈೝࣝΈ͍ͨͳ΍ͭͩͱʮ΍ͬͯΈͨʯͰऴΘͬͪΌ͏ ➤ ϋϯζΦϯͰࢼ͕ͨ͠ɺͦͷ࣍ʹվྑ͠Α͏ʹ΋ํ๏͕Θ͔Βͳ͍ ➤ ؀ڥ͸ɺϘλϯΛԡ͚ͩ͢Ͱࣗಈ࡞੒ ➤

    αϯϓϧͰ؆୯ʹࢼͤΔ͠ɺλΠϜͰ༏ྼ͕؆୯ʹΘ͔Δ ➤ ධՁؔ਺Λࣗ༝ʹมߋͯ͠ࢼͤΔ DeepRacerͩͱ ࠓ·Ͱ

  7. ࢼ͞ͳ͍ͱ ΋͍ͬͨͳ͍ʂ

  8. େମͷྲྀΕ ➤ ࡞੒Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷ૊Έ߹ΘͤʣΛબ୒ ➤ Reward functionʢใुؔ਺ʣΛ࡞੒ ➤

    HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ

  9. େମͷྲྀΕ ➤ ࡞੒Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷ૊Έ߹ΘͤʣΛબ୒ ➤ Reward functionʢใुؔ਺ʣΛ࡞੒ ➤

    HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ

  10. େମͷྲྀΕ ➤ ࡞੒Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷ૊Έ߹ΘͤʣΛબ୒ ➤ Reward functionʢใुؔ਺ʣΛ࡞੒ ➤

    HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ

  11. େମͷྲྀΕ ➤ ࡞੒Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷ૊Έ߹ΘͤʣΛબ୒ ➤ Reward functionʢใुؔ਺ʣΛ࡞੒ ➤

    HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ

  12. େମͷྲྀΕ ➤ ࡞੒Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷ૊Έ߹ΘͤʣΛબ୒ ➤ Reward functionʢใुؔ਺ʣΛ࡞੒ ➤

    HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ

  13. େମͷྲྀΕ ➤ ࡞੒Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢͲ͏ಈ͔͘ͷ૊Έ߹ΘͤʣΛબ୒ ➤ Reward functionʢใुؔ਺ʣΛ࡞੒ ➤

    HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ ͳ͓ɺ࡞੒ͨ͠ϞσϧΛݩʹ࠶ֶश͢Δ৔߹ɺ Action space͚ͩ͸มߋͰ͖·ͤΜʢͳͥॏཁͳͷ͔͸ޙड़ʣ ॏཁʂʂ

  14. ࠓճͷ ֶशํ਑͸…

  15. WAYPOINTௐࠪͱ͔ ंͷ޲͖ͱ͔

  16. ͳΜͯͷ͸ࢭΊͯ Ͱ͖Δ͚ͩγϯϓϧʹ

  17. ਅΜத૸Δ

  18. ଎͚Ε͹ྑ͍

  19. ࠶ֶशΛࢼ͢

  20. ਅΜத૸Δ ଎͚Ε͹ྑ͍ ࠶ֶशΛࢼ͢

  21. େମɺ͜Μͳઃఆ

  22. ਅΜத૸Δ ͪΌΜͱΰʔϧͯ͠Δʂ

  23. ଎͚Ε͹ྑ͍ ̍ඵ୹ॖͨ͠ʂ ΋ͬͱ͍͚Δ͔΋ʂʂ

  24. ࠶ֶशΛࢼ͢ ഁ୼ͨ͠ʢྦ

  25. ํ޲ੑؒҧ͑Δͱ ࠶ֶशͯ͠΋ ݁Ռ͸ग़ͳ͍

  26. ·ͱΊͯΈΔͱ ➤ ࠷େεϐʔυ͕ɹ6m/s ͩͬͨͷͰɺ΋ͬͱ଎ͯ͘΋ྑ͔ͬͨ ➤ ͔֬ɺ12m/s·Ͱ্͛ΕΔ͸ͣͱࢥͬͨΒɺ࠷ߴ଎౓͕4m/sʹͳͬͯͨ ➤ ͜ͷลͷ਺஋΍ϝχϡʔ͸සൟʹมΘΔͷͰ஫ҙඞཁ ➤ ʮ଎͚Ε͹ྑ͍ʯͷ࣌ͷใु͸ɺ΋ͬͱਅΜதدΓʹ੍ݶͨ͠ํ͕ྑ͔ͬͨ

    ➤ ͦͷ্ͰɺผίʔεͰֶश͢Δͱྑ͔͔ͬͨ΋ʁ ➤ γϯϓϧͳίʔεͰεϐʔυ্͛ͯɺෳࡶͳίʔεͰ࠶ֶशͱ͔ʁ

  27. ·ͱΊͯΈΔͱ ➤ ৭ʑͳύλʔϯͰࢼͯ͠Έͳ͍ͱΑ͘෼͔Βͳ͍ ➤ Ͱ΋ɺࠓճͷςετͰେମɺ$100͘Β͍͔͔ͬͯΔ ➤ ͕͢͞ʹ΋͏ࢼͤͳ͍ʢۤস ➤ ٯʹ͍͏ͱɺAIํ໘ͷεΩϧͳͯ͘΋؆୯ʹࢼͤΔͷ͸ྑ͍͔΋ ➤

    ຊͱ͔ങͬͯࢼͯ͠΋͓͔͔ۚΔ͠Ͷʔ ➤ AIϕϯνϟʔͬͯੌ͍͜ͱ΍ͬͯΔΜͰ͢Ͷʢ͠Έ͡Έ

  28. ·ͱΊͯΈΔͱ ຊ΁ͷ౤ࢿ΋·ͩ·ͩ଍Γͯͳ͍Α͏Ͱ͢ ੌ͍ੈքͰ͢Αʂ

  29. օ͞Μ΋ LET’S TRY!

  30. ࠷ॳʹ௅ઓͨ࣌͠ͷ࿩ ➤ ͢ͰʹR3ͷձࣾϒϩάʹ্͕ͬͯ·͢ͷ ͰɺʮDeepRacerഊઓهʯͰݕࡧͯͩ͘͠ ͍͞ ➤ جຊతͳྲྀΕͷ࿩ͱɺྉۚͷ͜ͱΛॻ͍ ͯ·͢ ➤ AWSଆ΋ឯ༨ۂં͋ͬͨͷͰɺ࠷ॳͷࠒ

    ͸ྉۚͷมಈ͕େมͰͨ͠ ➤ $300͘Β͍੥ٻ͕มಈͨ͠Γʢ$900 → $600ʣͱɺϗϯτɺυΩυΩͰͨ͠Αʂ એ఻

  31. ͋Γ͕ͱ͏ ͍͟͝·ͨ͠