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DeepRacer for learning RL

DeepRacer for learning RL

2019.4.6 Developers.IO at OKAYAMA.

貞松政史

April 06, 2019
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  1. 4 D 29 26 1 . 0 I 1

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  3. 3  #cmdevio2019

  4. 4 os t m ( L @S g E b

    i _d L rMI D @ E ( ( ( ) ( e a n k AWS E
  5. 5   DeepRacer 

  6. 6   D

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  9. 9 DeepRacer 4 D 26 9 01 .

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  11. 11         

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  12. 12 DeepRacer

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  14. 14 DeepRacer 1/18       

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  15. 15 DeepRacer https://aws.amazon.com/jp/deepracer/

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  17. 17 3D AWS RoboMaker Robot Operating System (ROS) Gazebo rqt

  18. 18 AWS DeepRacer League ⁻ 0 1 : 9 A

    ⁻ 9 2 R ⁻   ⁻ D I ⁻ 1 2 ⁻   https://aws.amazon.com/jp/deepracer/league/
  19. 19 

  20. 20   (Artificial Intelligence, AI)  (Machine Learning, ML)

        NeuralNetwork DeepLearning   
  21. 21  

  22. 22 = 1    (   

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  23. 23 L N - ) ( - D Q

  24. 24 DeepRacer     Cliped PPO PPO (Proximal

    Policy Optimization) OpenAI2017 
  25. 25       ( ( )

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  26. 26  1

  27. 27  ) () (

  28. 28 DeepRacer   

  29. 29 DeepRacer + + +

  30. 30 DeepRacer

  31. 31 DeepRacer  …

  32. 32 DeepRacer  

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  34. 34 DeepRacer  + + +

  35. 35 DeepRacer  D A D

  36. 36 $   ' + (#   &!

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  37. 37   ( ) ) https://docs.aws.amazon.com/ja_jp /deepracer/latest/developerguide/ deepracer-train-models-define- reward-function.html

  38. 38     

  39. 39       ⁻ 10 ⁻

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  40. 40 SageMaker RL + RoboMaker

  41. 41 SageMeker RLRoboMakerGA

  42. 42 SageMaker “RL”  ⁻ ⁻ M ⁻ M M

    ⁻ M   ⁻ ⁻ ⁻ J M S
  43. 43 DeepRacer ) D ( ) ) ( )

  44. 44 SageMaker        

      https://dev.classmethod.jp/machine -learning/sagemaker-robomaker- deepracer-sample/
  45. 45      $#   "

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  46. 46 Jupyter    !   

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  48. 48   

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  51. 51   (. ( )(   

  52. 52 $2# " /1(+ $2#,- !  https://docs.aws.amazon.com/ja_jp/deepracer/latest/developerguide/deepracer -iteratively-enhance-reward-functions.html *

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  53. 53    Best Practices when training with PPO

    (Unity Technologies) https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Training-PPO.md        
  54. 54 DeepRacer "%    !   "%

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  55. 55 DeepRacer

  56. 56 DeepRacer    

  57. 57 DeepRacer  

  58. 58 DeepRacer     

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  61. 61 • g • + + • M D c

    • R S D a k • b • LL e
  62. 62 DeepRacer 

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