DeepRacer 모델 생성 시

params (원본:https://docs.aws.amazon.com/deepracer/latest/developerguide/deepracer-reward-function-input.html)

all_wheels_on_track	Boolean	# flag to indicate if the agent is on the track	트랙 내 존재 여부
x	float	# agent's x-coordinate in meters	자차 x좌표
y	float	# agent's y-coordinate in meters	자차 y좌표
closest_objects	[int, int]	# zero-based indices of the two closest objects to the agent's current position of (x, y).	가장 가까운 물체 인덱스 2개
closest_waypoints	[int, int]	# indices of the two nearest waypoints.	가장 가까운 트랙좌표 인덱스 2개
distance_from_center	float	# distance in meters from the track center	중앙선 까지의 거리
is_crashed	Boolean	# Boolean flag to indicate whether the agent has crashed.	충돌 여부
is_left_of_center	Boolean	# Flag to indicate if the agent is on the left side to the track center or not.	중앙선 왼쪽에 있는지
is_offtrack	Boolean	# Boolean flag to indicate whether the agent has gone off track.	이탈 여부
is_reversed	Boolean	# flag to indicate if the agent is driving clockwise (True) or counter clockwise (False).	시계방향true 반시계false
heading	float	# agent's yaw in degrees	180에서 -180까지
objects_distance	[float, ]	# list of the objects' distances in meters between 0 and track_length in relation to the starting line.	오브젝트까지 거리
objects_heading	[float, ]	# list of the objects' headings in degrees between -180 and 180.	오브젝트까지 각도
objects_left_of_center	[Boolean, ]	# list of Boolean flags indicating whether elements' objects are left of the center (True) or not (False).	오브젝트 중앙선에서 왼쪽 여부
objects_location	[(float, float),]	# list of object locations [(x,y), ...].	오브젝트 위치
objects_speed	[float, ]	# list of the objects' speeds in meters per second.	오브젝트 속도
progress	float	# percentage of track completed	트랙 완주 비율
speed	float	# agent's speed in meters per second (m/s)	자차 속도
steering_angle	float	# agent's steering angle in degrees	자차 각도
steps	int	# number steps completed	진행된 스텝 수
track_length	float	# track length in meters.	트랙 길이
track_width	float	# width of the track	트랙 폭
waypoints	[(float, float), ]	# list of (x,y) as milestones along the track center	트랙 좌표들

 

 

학습 시킬 때 :

PPO 또는 SAC선택,

최고속도, 최저속도 (0.1부터 4),

좌우 스티어링(0부터 30 사이),

reward function,

학습 시킬 시간(5분 - 24시간 사이),