DeepRacer

Preliminary training:

deepracer-github-simapp.tar.gz

Reward function:
./opt/install/sagemaker_rl_agent/lib/python3.5/site-packages/markov/environments/deepracer_env.py

action = [steering_angle, throttle]
TRAINING_IMAGE_SIZE = (160, 120)

Plotted waypoints in vertices array of hard track

Parameters:
on_track,
x, y,
distance_from_center, car_orientation, progress, steps,
throttle, steering,
track_width,
waypoints, closest_waypoints

Note: Above picture is from https://yanpanlau.github.io/2016/10/11/Torcs-Keras.html

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