DeepRacerで学ぶ機械学習 1.1

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DNEFWJPDNEFWJP) %FFQ3BDFSͰ࢝ΊΔػցֶश σʔλΞφϦςΟΫεࣄۀຊ෦ΠϯςάϨʔγϣϯ෦ େᖒ༐ే

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ࣗݾ঺հ େᖒ༐ే σʔλΞφϦςΟΫεࣄۀຊ෦ΠϯςάϨʔγϣϯ෦ ػցֶशνʔϜΤϯδχΞ!େࡕ %FFQ3BDFSྺ൒೥͘Β͍

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ࠓ೔࿩͢͜ͱ w"84%FFQ3BDFSͱ͸ wػցֶशͱ͸ w"84ʹ͓͚Δػցֶश w"84%FFQ3BDFSͰԿΛͲ͏ֶ΂Δͷ͔ wػցֶशΛΑΓֶͿͨΊʹ w"84%FFQ3BDFSΛ΍ͬͯΈΔ

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DNEFWJPDNEFWJP) "84%FFQ3BDFSͱ͸

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DNEFWJPDNEFWJP) https://aws.amazon.com/jp/deepracer/

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"84%FFQ3BDFS "84্ͰϞσϧΛֶशͤͯ͞ɺϥδίϯͰࣗಈӡస wϚωδϝϯτίϯιʔϧ͔ΒϞσϧΛֶश wεέʔϧͷϥδίϯʹϞσϧΛࡌͤΔ͜ͱͰࣗಈӡస wόʔνϟϧαʔΩοτʹϞσϧΛఏग़͠ɺϥοϓλΠϜΛڝ͏ w"84SF*OWFOU΍"844VNNJUͰͷ%FFQSBDFS-FBHVFͰ࣮ ࡍʹ૸ΒͤͯϥοϓλΠϜΛڝ͏

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DNEFWJPDNEFWJP) https://aws.amazon.com/jp/deepracer/

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Ϛωδϝϯτίϯιʔϧ

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"84%FFQ3BDFS-FBHVF

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Ϟσϧͷֶश

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γϛϡϨʔγϣϯ ֶशॳظ

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γϛϡϨʔγϣϯ ͋Δఔ౓ֶशͨ͠ஈ֊

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DNEFWJPDNEFWJP) ػցֶशͱ͸

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ػցֶश֓ཁ ͬ͘͟Γݴ͏ͱنଇੑΛֶशͤ͞Δ͜ͱɻ wڭࢣ͋Γֶश౴͑Λ༩͑ͯೖྗͱ౴͑ͷنଇੑΛֶशͤ͞Δ wڭࢣͳֶ͠शɿ౴͑Λ༩͑ͣʹೖྗͷنଇੑΛֶशͤ͞Δ w൒ڭࢣ͋Γֶशɿجຊతʹ͸౴͑Λ༩͑ͣʹೖྗͷنଇੑΛֶशͤ͞ Δ͕ɺ෦෼తʹ౴͑Λ༩͑ͯิॿ͢Δ wڧԽֶशɿ͋Δ؀ڥͰใु͕࠷େԽ͢Δߦಈબ୒ͷنଇੑΛֶशͤ͞Δ ͳͲ

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ػցֶशྫ ҟৗݕग़

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ػցֶशྫ ୯ޠͷຒΊࠐΈ

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ػցֶशྫ ΫϥελϦϯά

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ڧԽֶश֓ཁ ؀ڥ͔ΒΤʔδΣϯτʹঢ়ଶ ΤʔδΣϯτ͕ঢ়ଶʹج͍ͮͯ ߦಈ ؀ڥ͕ߦಈ݁Ռʹج͍ͮͨใु ΛΤʔδΣϯτ΁ dΛ܁Γฦ͢ ௕ظతʹ࠷େใु͕΋Β͑ΔߦಈΛબͿΑ͏ʹֶश͢Δ

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%FFQ3BDFSͰ࢖ΘΕ͍ͯΔख๏ 1SPYJNBM1PMJDZ0QUJNJ[BUJPO https://nervanasystems.github.io/coach/components/agents/policy_optimization/ppo.html

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DNEFWJPDNEFWJP) "84ʹ͓͚Δػցֶश

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"84ʹ͓͚Δػցֶश

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"84%FFQ3BDFS RoboMakerͰͷγϛϡϨʔγϣϯͱ SageMakerͰͷϞσϧͷֶशΛ܁Γฦ͢

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%FFQ3BDFSʹؔ܎͢Δ"84αʔϏε ࠓճؔ܎͢Δͷ͸ʜ

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%FFQ3BDFSʹؔ܎͢Δ"84αʔϏε ࠓճؔ܎͢Δͷ͸ʜ Ϟσϧͷֶश

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"NB[PO4BHF.BLFS ػցֶशͷϑϧϚωʔδυαʔϏε w+VQZUFSϊʔτϒοΫͷϗεςΟϯά wػցֶशϞσϧͷֶश wػցֶशϞσϧͷϗεςΟϯά wϥϕϧ͚ͮ Ξϊςʔγϣϯ ͷ؅ཧ ͳͲ DeepRacerͰ࢖༻

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%FFQ3BDFSʹؔ܎͢Δ"84αʔϏε ࠓճؔ܎͢Δͷ͸ʜ Ϟσϧͷֶश AWS RoboMaker γϛϡϨʔγϣϯ

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"843PCP.BLFS ϩϘοτΞϓϦέʔγϣϯͷ։ൃΛαϙʔτ͢ΔαʔϏε wϑϧϚωʔδυͳγϛϡϨʔγϣϯαʔϏε w$MPVEͱ࿈ܞͨ͠։ൃ؀ڥ w304ͷΫϥ΢υ֦ு wϑϦʔτϚωδϝϯτ ͳͲ DeepRacerͰ࢖༻

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"84%FFQ3BDFS RoboMakerͰͷγϛϡϨʔγϣϯͱ SageMakerͰͷϞσϧͷֶशΛ܁Γฦ͢

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DNEFWJPDNEFWJP) %FFQ3BDFSͰ ԿΛͲ͏ֶ΂Δͷ͔

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ػցֶश΍ڧԽֶशͷྲྀΕ΍֓ཁ ʹ͍ͭͯମݧ&ֶ΂Δ

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ػցֶश΍ڧԽֶशͷྲྀΕ΍֓ཁͬͯʜ wػցֶशͱڧԽֶशͷงғؾ wͲͷΑ͏ʹͯ͠ղܾ͢Δ͔ߟ͑ΔػցֶशλεΫͷઃܭ wԿ౓΋܁Γସ͑͢Ϟσϧͷվળ wᷚʹΑ͘ฉ͘ϋΠύʔύϥϝʔλ ͳͲ

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ػցֶशλεΫͷઃܭ wػցֶशΛ࢖ͬͨ໰୊ͷղ͖ํ΁ͷམͱ͠ࠐΈ wใुؔ਺ͷઃܭ wͲ͏͢Ε͹ϥοϓλΠϜ͕଎͘ͳΔͷ͔ wͲͷΑ͏ʹใुΛ༩͑Ε͹ɺϥοϓλΠϜ͕଎͍૸ΓํΛֶ श͢Δͷ͔

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ใुؔ਺

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ߦಈύλʔϯ

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Ϟσϧͷվળ wγϛϡϨʔγϣϯϩάΛ࢖ͬͨϞσϧͷಛ௃෼ੳ wҙਤͨ͠௨Γʹֶशͯ͠Δ͔ɺ૸ͬͯΔ͔Λ֬ೝ͠ɺվળʹ ͭͳ͛Δ wΑΓ଎͘૸ΔΑ͏ʹ͢ΔͨΊʹ࣮ݧΛ܁Γฦ͢

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ใु

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ͲͷΑ͏ʹ૸ͬͨͷ͔

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ϋΠύʔύϥϝʔλͷௐ੔ wϞσϧͷֶशͷਐΊํΛௐ੔͢Δ wχϡʔϥϧωοτϫʔΫ΍ޯ഑߱Լ๏ɺ110ͳͲͷಛੑʹԠ ͨ͡࠷దԽ wεϐʔυΛ্͛ͨΓ͢Δͱɺֶश͕೉͘͠ͳΓɺֶश཰ͳͲ ͷύϥϝʔλΛௐ੔͢Δඞཁ͕Ͱͯ͘Δ

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%FFQ3BDFSʹ͓͚ΔϋΠύʔύϥϝʔλ

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ԿΛֶ΂Δͷ͔ʜ wػցֶशλεΫͷઃܭ wػցֶशΛ࢖ͬͨ໰୊ͷղ͖ํ΁ͷམͱ͠ࠐΈ w଎͍ϥοϓλΠϜ͕ग़͍ͨ͠Ͳ͏૸ΒͤΕ͹ɺͲ͏ֶशͤ͞Ε͹͍͍ͷ͔ʜ wϞσϧͷվળ wγϛϡϨʔγϣϯϩάΛ࢖ͬͨϞσϧͷಛ௃෼ੳ wҙਤͨ͠௨Γʹֶशͯ͠Δ͔ɺ૸ͬͯΔ͔֬ೝ͠ɺվળʹͭͳ͛Δ wϋΠύʔύϥϝʔλͷௐ੔ wϞσϧͷֶशͷਐΊํΛௐ੔͢Δ

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৭ʑ΍ͬͯΈΔͱɺΑ͘෼͔Βͳ͍ͱ͜Ζ͕ग़ͯ͘Δ wֶश཰ͬͯ w//΍ޯ഑߱Լ๏ʹ͍ͭͯௐ΂ͯΈΔ wใुͬͯͲ͏༩͑Ε͹͍͍ͷ͔ wใुؔ਺ͷઃܭํ๏΍110ʹ͍ͭͯௐ΂ͯΈΔ ͳͲͳͲ

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ͳΜ͔Α͘෼͔ΒΜ͚Ͳ ৭ʑ஌Γͨ͘ͳͬͯ͘Δ

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DNEFWJPDNEFWJP) ػցֶशΛΑΓֶͿͨΊʹ

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ػցֶशΛΑΓֶͿͨΊͷ͍Ζ͍Ζ w"84%FFQ3BDFS%SJWFOCZ3FJOGPSDFNFOU-FBSOJOH wIUUQTXXXBXTUSBJOJOH%FUBJMTF-FBSOJOH JE w$IBJOFS5VUPSJBM wIUUQTUVUPSJBMTDIBJOFSPSHKBJOEFYIUNM w"NB[PO4BHF.BLFS&YBNQMFT wIUUQTHJUIVCDPNBXTMBCTBNB[POTBHFNBLFSFYBNQMFT

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"84%FFQ3BDFS%SJWFOCZ3FJOGPSDFNFOU-FBSOJOH https://www.aws.training/Details/eLearning?id=35393

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$IBJOFSνϡʔτϦΞϧ https://tutorials.chainer.org/ja/index.html

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$IBJOFSνϡʔτϦΞϧ https://tutorials.chainer.org/ja/tutorial.html

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"NB[PO4BHF.BLFS&YBNQMFT https://github.com/awslabs/amazon-sagemaker-examples

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"NB[PO4BHF.BLFS&YBNQMFT https://github.com/awslabs/amazon-sagemaker-examples

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"NB[PO4BHF.BLFS&YBNQMFT https://github.com/awslabs/amazon-sagemaker-examples

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%JTUSJCVUFE%FFQ3BDFS3-USBJOJOHXJUI4BHF.BLFSBOE3PCP.BLFS https://github.com/awslabs/amazon-sagemaker-examples/blob/master/reinforcement_learning/ rl_deepracer_robomaker_coach_gazebo/deepracer_rl.ipynb

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DNEFWJPDNEFWJP) %FFQ3BDFSΛ΍ͬͯΈΔ

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Ϛωδϝϯτίϯιʔϧ

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ϞσϧҰཡ

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Ϟσϧ࡞੒

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Ϧιʔεͷ࡞੒

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Ϟσϧ໊

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ίʔεબ୒

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ߦಈઃఆ

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ߦಈύλʔϯ

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ใुؔ਺

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ใुؔ਺ͷαϯϓϧ

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ϋΠύʔύϥϝʔλ

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ֶश࣌ؒ

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ֶश։࢝

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ϞσϧҰཡ

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ֶशը໘

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3PCP.BLFSͷγϛϡϨʔγϣϯπʔϧ

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(B[FCPͰͷγϛϡϨʔγϣϯը໘

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ֶश׬ྃ

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όʔνϟϧαʔΩοτ

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όʔνϟϧαʔΩοτ

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όʔνϟϧαʔΩοτʹొ࿥͢Δ

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όʔνϟϧαʔΩοτʹొ࿥͢Δ

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όʔνϟϧαʔΩοτʹొ࿥͢Δ

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Ϟσϧαϒϛοτޙ

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ϞσϧධՁத

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ϞσϧධՁ׬ྃ ׬૸ͤͣ…

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DNEFWJPDNEFWJP) ·ͱΊ

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·ͱΊ w%FFQ3BDFSͰ͸ػցֶशɺڧԽֶशʹ৮ΕΔ͜ͱ͕Ͱ͖Δ wࣄલ஌ࣝ͸΄ͱΜͲඞཁͳ͘ɺखܰʹ࢝ΊΒΕΔ wແྉ࿮΋͋ΔͨΊɺͱΓ͋͑ͣ΍ͬͯΈΔͷ͕͓͢͢Ί wͨͩ͠ɺແྉ࿮Λ௒͑Δͱ҆͘͸ͳ͍ͷͰɺ΍Γ͗͢஫ҙ ڵຯΛ࣋ͬͨ಺༰ΛͲΜͲΜ۷ΓԼ͍͛ͯͬͯ Ώ͘Ώ͘͸ػցֶशڧऀʹʜ

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͋Γ͕ͱ͏͍͟͝·ͨ͠