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DeepRacerに挑戦してみた

E671432ee32b78dfa0514cc77e0ac556?s=47 okiyasu
November 23, 2019

 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
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  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 ͍͟͝·ͨ͠