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DeepRacerに挑戦してみた
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okiyasu
November 23, 2019
Programming
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DeepRacerに挑戦してみた
DeepRacerを色々とやってみたという話
okiyasu
November 23, 2019
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Transcript
DeepRacerʹઓͯ͠Έͨʂ START YOUR ENGINE!! 2019/11/23 ࢛ࠃΫϥυ͓ว࿏2019 ಙౡ JAWS-UG Ѫඤɹԭ ོ҆
ࣗݾհ ݩεʔύʔܦӦ ࣮Ո +"846(Ѫඤ LJOUPOF$BGÉѪඤ 5XJMJP+16(Ѫඤ ͘͞ΒΫϥϒѪඤ 403"$0.6(4IJLPLV +1@4USJQFT
ۀϋοΫ ݿ൪ಓࢣʢఱ࠽ೝఆূ൪อ༗ʣ αΠϘζެೝLJOUPOFΤόϯδΣϦετ LJOUPOF"TTPDJBUF LJOUPOF"QQ%FTJHO4QFDJBMJTU LJOUPOF$VTUPNJ[BUJPO4QFDJBMJTU "84ೝఆιϦϡʔγϣϯΞʔΩςΫτrΞιγΤΠτ "84ೝఆσϕϩούʔrΞιγΤΠτ ԭོ҆ʢ͓͖͔ͨ͢ʣ
དྷिɺre:Invent2019ʹߦ͖·͢ʢ4ճʣ
DeepRacerͬͯͬͯ·͢ʁ ➤ લʹΧϝϥ͕͍ͯͯɺը૾Λݟͯίʔ εΛΓ·͢ ➤ ڧԽֶशͱ͍͏ΈͰΓํΛ֮͑· ͢ ➤ ֶशͷΓํγϯϓϧɻifͱܭࢉ͕ࣜ ॻ͚ΕेͰ͢
➤ ཪଆͷ໘ͳ͜ͱAWS DeepRacerଆͰ ͬͯ͘Ε·͢ ➤ λΠϜ͕ग़ͯɺੈքதͰڝ૪ʹͳΔͷͰ ͘ͳΓ·͢ʂ
Ϙλϯ̍ͭͰ͜Μͳߏ͕ࣗಈͰ࡞͞Ε·͢
Կ͕ྑ͍͔ͱ͍͏ͱ ➤ ࢼͦ͏ͱͯ͠ɺಈ࡞͢ΔڥΛߏங͢Δஈ֊Ͱ͏·͍͔ͣ͘࠳ં͢Δ ➤ खॻ͖จࣈೝࣝΈ͍ͨͳͭͩͱʮͬͯΈͨʯͰऴΘͬͪΌ͏ ➤ ϋϯζΦϯͰࢼ͕ͨ͠ɺͦͷ࣍ʹվྑ͠Α͏ʹํ๏͕Θ͔Βͳ͍ ➤ ڥɺϘλϯΛԡ͚ͩ͢Ͱࣗಈ࡞ ➤
αϯϓϧͰ؆୯ʹࢼͤΔ͠ɺλΠϜͰ༏ྼ͕؆୯ʹΘ͔Δ ➤ ධՁؔΛࣗ༝ʹมߋͯ͠ࢼͤΔ DeepRacerͩͱ ࠓ·Ͱ
ࢼ͞ͳ͍ͱ ͍ͬͨͳ͍ʂ
େମͷྲྀΕ ➤ ࡞Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷΈ߹ΘͤʣΛબ ➤ Reward functionʢใुؔʣΛ࡞ ➤
HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ
େମͷྲྀΕ ➤ ࡞Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷΈ߹ΘͤʣΛબ ➤ Reward functionʢใुؔʣΛ࡞ ➤
HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ
େମͷྲྀΕ ➤ ࡞Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷΈ߹ΘͤʣΛબ ➤ Reward functionʢใुؔʣΛ࡞ ➤
HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ
େମͷྲྀΕ ➤ ࡞Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷΈ߹ΘͤʣΛબ ➤ Reward functionʢใुؔʣΛ࡞ ➤
HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ
େମͷྲྀΕ ➤ ࡞Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢಈ͖ͷΈ߹ΘͤʣΛબ ➤ Reward functionʢใुؔʣΛ࡞ ➤
HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ
େମͷྲྀΕ ➤ ࡞Ϟσϧͷ໊લͱίʔεΛܾΊΔ ➤ Action spaceʢͲ͏ಈ͔͘ͷΈ߹ΘͤʣΛબ ➤ Reward functionʢใुؔʣΛ࡞ ➤
HyperparametersʢৄࡉઃఆʣΛܾఆ ➤ ֶश࣌ؒΛܾఆ ͳ͓ɺ࡞ͨ͠ϞσϧΛݩʹ࠶ֶश͢Δ߹ɺ Action space͚ͩมߋͰ͖·ͤΜʢͳͥॏཁͳͷ͔ޙड़ʣ ॏཁʂʂ
ࠓճͷ ֶशํ…
WAYPOINTௐࠪͱ͔ ंͷ͖ͱ͔
ͳΜͯͷࢭΊͯ Ͱ͖Δ͚ͩγϯϓϧʹ
ਅΜதΔ
͚Εྑ͍
࠶ֶशΛࢼ͢
ਅΜதΔ ͚Εྑ͍ ࠶ֶशΛࢼ͢
େମɺ͜Μͳઃఆ
ਅΜதΔ ͪΌΜͱΰʔϧͯ͠Δʂ
͚Εྑ͍ ̍ඵॖͨ͠ʂ ͬͱ͍͚Δ͔ʂʂ
࠶ֶशΛࢼ͢ ഁͨ͠ʢྦ
ํੑؒҧ͑Δͱ ࠶ֶशͯ͠ ݁Ռग़ͳ͍
·ͱΊͯΈΔͱ ➤ ࠷େεϐʔυ͕ɹ6m/s ͩͬͨͷͰɺͬͱͯ͘ྑ͔ͬͨ ➤ ͔֬ɺ12m/s·Ͱ্͛ΕΔͣͱࢥͬͨΒɺ࠷ߴ͕4m/sʹͳͬͯͨ ➤ ͜ͷลͷϝχϡʔසൟʹมΘΔͷͰҙඞཁ ➤ ʮ͚Εྑ͍ʯͷ࣌ͷใुɺͬͱਅΜதدΓʹ੍ݶͨ͠ํ͕ྑ͔ͬͨ
➤ ͦͷ্ͰɺผίʔεͰֶश͢Δͱྑ͔͔ͬͨʁ ➤ γϯϓϧͳίʔεͰεϐʔυ্͛ͯɺෳࡶͳίʔεͰ࠶ֶशͱ͔ʁ
·ͱΊͯΈΔͱ ➤ ৭ʑͳύλʔϯͰࢼͯ͠Έͳ͍ͱΑ͔͘Βͳ͍ ➤ ͰɺࠓճͷςετͰେମɺ$100͘Β͍͔͔ͬͯΔ ➤ ͕͢͞ʹ͏ࢼͤͳ͍ʢۤস ➤ ٯʹ͍͏ͱɺAIํ໘ͷεΩϧͳͯ͘؆୯ʹࢼͤΔͷྑ͍͔ ➤
ຊͱ͔ങͬͯࢼ͓͔͔ͯۚ͠Δ͠Ͷʔ ➤ AIϕϯνϟʔͬͯੌ͍͜ͱͬͯΔΜͰ͢Ͷʢ͠Έ͡Έ
·ͱΊͯΈΔͱ ຊͷࢿ·ͩ·ͩΓͯͳ͍Α͏Ͱ͢ ੌ͍ੈքͰ͢Αʂ
օ͞Μ LET’S TRY!
࠷ॳʹઓͨ࣌͠ͷ ➤ ͢ͰʹR3ͷձࣾϒϩάʹ্͕ͬͯ·͢ͷ ͰɺʮDeepRacerഊઓهʯͰݕࡧͯͩ͘͠ ͍͞ ➤ جຊతͳྲྀΕͷͱɺྉۚͷ͜ͱΛॻ͍ ͯ·͢ ➤ AWSଆឯ༨ۂં͋ͬͨͷͰɺ࠷ॳͷࠒ
ྉۚͷมಈ͕େมͰͨ͠ ➤ $300͘Β͍ٻ͕มಈͨ͠Γʢ$900 → $600ʣͱɺϗϯτɺυΩυΩͰͨ͠Αʂ એ
͋Γ͕ͱ͏ ͍͟͝·ͨ͠