強化学習arXiv:2103.08396
CartPoleの勾配方策とF1Tenth自動運転車への拡張性
Gradient Policy on "CartPole" game and its' expansibility to F1Tenth Autonomous Vehicles
CartPoleの棒の角度制御と自動運転車の操舵角制御の類似性を自転車モデルで示し、方策勾配法によるモデル転移の可能性を検討した論文。
著者: Mingwei Shi
分類: cs.RO, cs.AI, cs.SY, eess.SY
原文アブストラクト
Policy gradient is an effective way to estimate continuous action on the environment. This paper, it about explaining the mathematical formula and code implementation. In the end, comparing between the rotation angle of the stick on CartPole , and the angle of the Autonomous vehicle when turning, and utilizing the Bicycle Model, a simple Kinematic dynamic model, are the purpose to discover the similarity between these two models, so as to facilitate the model transfer from CartPole to the F1tenth Autonomous vehicle.