{"id":575,"date":"2023-12-13T12:09:30","date_gmt":"2023-12-13T12:09:30","guid":{"rendered":"https:\/\/faai.ath.edu.pl\/?p=575"},"modified":"2023-12-13T12:11:24","modified_gmt":"2023-12-13T12:11:24","slug":"abstrakt-rl-toolkit-navrh-a-implementacia-suboru-nastrojov-pre-posilnovanie-ucenia-v-robotike","status":"publish","type":"post","link":"https:\/\/faai.ath.edu.pl\/?p=575&lang=sk","title":{"rendered":"Abstrakt: RL-Toolkit: N\u00e1vrh a implement\u00e1cia s\u00faboru n\u00e1strojov pre posil\u0148ovanie u\u010denia v robotike"},"content":{"rendered":"<p>Abstrakt: Tento \u010dl\u00e1nok predstavuje nov\u00fa sadu n\u00e1strojov na samou\u010denie robotov v simulovan\u00fdch prostrediach so zameran\u00edm na maximaliz\u00e1ciu sk\u00f3re v\u00fdkonu \u00faloh. Navrhovan\u00e1 met\u00f3da vyu\u017e\u00edva umel\u00fa neur\u00f3nov\u00fa sie\u0165 na transform\u00e1ciu meran\u00ed senzorov na vektor akci\u00ed, t. j. pohybov motorov robota, pri\u010dom vyu\u017e\u00edva princ\u00edpy posil\u0148ovania u\u010denia na maximaliz\u00e1ciu kvality stavov\u00fdch prechodov vypl\u00fdvaj\u00facich z vykonan\u00fdch akci\u00ed. Na ukladanie \u00fadajov o interakci\u00e1ch z\u00edskan\u00fdch po\u010das simul\u00e1ci\u00ed sa vyu\u017e\u00edva datab\u00e1zov\u00fd server Reverb. Experiment\u00e1lne v\u00fdsledky preukazuj\u00fa v\u00fdrazn\u00e9 zlep\u0161enie o 9,38 % oproti publikovan\u00fdm v\u00fdsledkom p\u00f4vodn\u00fdch algoritmov. Kon\u0161trukcia RL-Toolkit pozost\u00e1va z datab\u00e1zov\u00e9ho servera, n\u00e1stroja na monitorovanie v\u00e1h a odch\u00fdlok a podpory troch popul\u00e1rnych simula\u010dn\u00fdch prostred\u00ed (Gymnasium, DeepMind Control Suite a PyBullet). Okrem toho sa uv\u00e1dza n\u00e1vrh architekt\u00fary na pou\u017eitie s\u00fapravy RL-Toolkit na re\u00e1lnych robotoch, ktor\u00fd ukazuje jej potenci\u00e1l na praktick\u00fa implement\u00e1ciu. Viac <a href=\"https:\/\/faai.ath.edu.pl\/wp-content\/uploads\/2023\/12\/ANS2023-Book-of-Abstracts-Kubovcik.pdf\">ANS2023 &#8211; Book of Abstracts Kubovcik<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Abstrakt: Tento \u010dl\u00e1nok predstavuje nov\u00fa sadu n\u00e1strojov na samou\u010denie robotov v simulovan\u00fdch prostrediach so zameran\u00edm na maximaliz\u00e1ciu sk\u00f3re v\u00fdkonu \u00faloh. Navrhovan\u00e1 met\u00f3da vyu\u017e\u00edva umel\u00fa neur\u00f3nov\u00fa sie\u0165 na transform\u00e1ciu meran\u00ed senzorov na vektor akci\u00ed, t. j. pohybov motorov robota, pri\u010dom vyu\u017e\u00edva princ\u00edpy posil\u0148ovania u\u010denia na maximaliz\u00e1ciu kvality stavov\u00fdch prechodov vypl\u00fdvaj\u00facich z vykonan\u00fdch akci\u00ed. Na ukladanie \u00fadajov &hellip; <\/p>\n<p class=\"read-more\"><a class=\"btn btn-default\" href=\"https:\/\/faai.ath.edu.pl\/?p=575&#038;lang=sk\"> Read More<span class=\"screen-reader-text\">  Read More<\/span><\/a><\/p>\n","protected":false},"author":32,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72],"tags":[],"class_list":["post-575","post","type-post","status-publish","format-standard","hentry","category-spravy"],"_links":{"self":[{"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=\/wp\/v2\/posts\/575","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=\/wp\/v2\/users\/32"}],"replies":[{"embeddable":true,"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=575"}],"version-history":[{"count":1,"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=\/wp\/v2\/posts\/575\/revisions"}],"predecessor-version":[{"id":577,"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=\/wp\/v2\/posts\/575\/revisions\/577"}],"wp:attachment":[{"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=575"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=575"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/faai.ath.edu.pl\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=575"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}