Value Program - Artificial Intelligence for RoboticsYouTube↗  IA↗(long shot)
Education  9.6K views 2 likes 0 dislikes   30 May 2012
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今回は価値関数を計算するように実装しましょう
Let's now implement something that calculates the value function.
ここに見慣れているグリッドがあります
Here's our familiar grid again.
縦型の障害物がここにあり T字形の障害物がここにあります
We have a vertical obstacle over here, a T-shaped obstacle over here.
ゴール位置は右下の角です
Our goal location is in the bottom right corner.
実行するとこの表を取得します 少し読みにくいものですが
When I run it, I get this table over here, which is a little bit hard to read,
グリッド内の各障害物の価値が 99になるように設定したからです
because I set the value for each obstacle in the grid to be 99.
ここにある99はすべて グリッド内の実際の障害物に対応します
So all the 99s over here correspond to actually obstacles in the grid.
ご覧のとおりここからゴール位置の価値は0
From there on you see that the value of the goal location is 0--
1、2、3、4そして これらの2つの状態については5です そして6と続いていきます
1, 2, 3, 4, 5 for these two states over here, 6, and so on.
あなたはこの表を入力値として使用し この表を計算する関数を実装する必要があります これは一義的な関数です
You should implement a function that takes this table as an input and computes this table over here, which is unambiguous.
この表とまったく同じものを出力できるはずです
You should be able to output this exact table over here.
構造を変更する場合 例えばここの経路を走行可能にすると
In fact, if I change the configuration--for example, open up a path over here--
まったく異なる価値関数を計算するはずです
then your function should compute a very different value function
このように行の左へ 真っすぐ価値が伝播していきます
where now we can see the value propagating straight to this line over here,
これは前回と違う状況です
which wasn't the case before.
これを実装する前に 以前と同様deltaの表を指定します
Before you implement this, as before I'm giving you the delta table
上、左、下、右の各動作を持ちます
with different actions--up, left, down, and right.
あとで小テストで使う予定のデータも 指定しておきましょう
I also give you something we'll be using in a later quiz
ステップのコストは1とします
and the cost for the step is supposed to be 1.
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