{"id":4152,"date":"2021-10-13T09:00:17","date_gmt":"2021-10-13T00:00:17","guid":{"rendered":"https:\/\/blogs.mathworks.com\/japan-community\/?p=4152"},"modified":"2022-01-07T12:02:12","modified_gmt":"2022-01-07T03:02:12","slug":"control-design-with-reinforcement-learning","status":"publish","type":"post","link":"https:\/\/blogs.mathworks.com\/japan-community\/2021\/10\/13\/control-design-with-reinforcement-learning\/","title":{"rendered":"\u5f37\u5316\u5b66\u7fd2\u306b\u3088\u308b\u5236\u5fa1\u8a2d\u8a08"},"content":{"rendered":"<p>\u672c\u65e5\u306f\u3001&#8221;<a href=\"https:\/\/twitter.com\/toshi34780378\" rel=\"noopener nofollow\" target=\"_blank\" class=\"external\">toshi | Simulink \u306e\u4e2d\u306e\u4eba<\/a>&#8221; \u3055\u3093\u304b\u3089\u306e\u8a18\u4e8b\u3067\u3059\u3002\u5f7c\u306e\u8a18\u4e8b\u306f\u3044\u3064\u3082\u6559\u80b2\u7684\u8981\u7d20\u304c\u6e80\u8f09\u306a\u306e\u3067\u697d\u3057\u307f\u306b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<hr>\n<p>\u3053\u3093\u306b\u3061\u306f\u3002\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u30a8\u30f3\u30b8\u30cb\u30a2\u30ea\u30f3\u30b0\u90e8\u306e <a href=\"https:\/\/twitter.com\/toshi34780378\" rel=\"noopener nofollow\" target=\"_blank\" class=\"external\">toshi | Simulink \u306e\u4e2d\u306e\u4eba<\/a>\u3067\u3059\u3002\u4ee5\u524d\u306f<a href=\"https:\/\/blogs.mathworks.com\/japan-community\/2020\/10\/14\/mystery-of-accelerometers\/\" target=\"_blank\">\u52a0\u901f\u5ea6\u30bb\u30f3\u30b5\u30fc\u306e\u7269\u7406<\/a>\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u305f\u308a\u3001<a href=\"https:\/\/blogs.mathworks.com\/japan-community\/2021\/03\/24\/r2021a-simulink-new-features\/\" target=\"_blank\">Simulink\u306e\u65b0\u6a5f\u80fd<\/a>\u3092\u7d39\u4ecb\u3057\u305f\u308a\u3057\u307e\u3057\u305f\u304c\u3001\u4eca\u56de\u306f\u672c\u696d\u306e\u5236\u5fa1\u8a2d\u8a08\u306e\u304a\u8a71\u3001\u3057\u304b\u3082\u5f37\u5316\u5b66\u7fd2\u3068\u3044\u3046\u5148\u7aefAI\u6280\u8853\u3092\u4f7f\u3063\u305f\u304a\u8a71\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<h1>\u6982\u8981<\/h1>\n<p>2021\u5e749\u67088\u65e5\u306b\u30c7\u30a3\u30fc\u30d7\u30e9\u30fc\u30cb\u30f3\u30b0\u306e\u30bb\u30df\u30ca\u30fc\u30b7\u30ea\u30fc\u30ba\u3068\u3057\u3066\u3001\u300c\u5f37\u5316\u5b66\u7fd2\u3092\u7528\u3044\u305f\u5b9f\u7528\u7684\u306a\u5236\u5fa1\u8a2d\u8a08\u300d\u3068\u3044\u3046\u30bb\u30c3\u30b7\u30e7\u30f3\u3092\u62c5\u5f53\u3055\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3057\u305f\u3002\u305d\u306e\u52d5\u753b\u304c\u4ee5\u4e0b\u306b\u306a\u308a\u307e\u3059\u3002\u30e2\u30c7\u30eb\u3082 <a href=\"https:\/\/jp.mathworks.com\/matlabcentral\/fileexchange\/99364-reinforcement-learning-inverted-pendulum-with-qube-servo2\" target=\"_blank\">File Exchange<\/a> \/ <a href=\"https:\/\/github.com\/mathworks\/Reinforcement-Learning-Inverted-Pendulum-with-QUBE-Servo2\" target=\"_blank\" class=\"external\" rel=\"nofollow\">GitHub<\/a>\u00a0\u3067\u516c\u958b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/weGOUlt0-QQ\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>\u3053\u306e\u30bb\u30df\u30ca\u30fc\u306b\u3066\u3001\u5012\u7acb\u632f\u5b50\u306e\u5b9f\u6a5f\u3092\u4f7f\u3063\u3066\u3001\u5f37\u5316\u5b66\u7fd2\u306e\u5236\u5fa1\u3092\u691c\u8a3c\u3059\u308b\u3001\u3068\u3044\u3046\u3053\u3068\u3092\u884c\u3044\u307e\u3057\u305f\u3002\u5f37\u5316\u5b66\u7fd2\u306e\u5236\u5fa1\u691c\u8a3c\u306b\u3064\u3044\u3066\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u307f\u3067\u3001\u5b9f\u6a5f\u3067\u884c\u308f\u308c\u305f\u4f8b\u306f\u5c11\u306a\u3044\u3067\u3059\u3002\u5f53\u793e MathWorks \u306e\u4e2d\u3067\u306f\u3001\u5b9f\u306f\u521d\u3068\u306e\u3053\u3068\u3067\u3059\u3002<\/p>\n<p>\u3053\u306e\u5236\u5fa1\u3092\u3069\u306e\u3088\u3046\u306b\u5b9f\u73fe\u3055\u305b\u305f\u306e\u304b\u306b\u3064\u3044\u3066\u3001\u52d5\u753b\u3067\u306f\u8a9e\u3089\u308c\u306a\u304b\u3063\u305f\u88cf\u5074\u3092\u3054\u7d39\u4ecb\u3057\u307e\u3059\uff01<\/p>\n<p>\uff08\u6ce8\uff09\u4e8b\u524d\u306b\u52d5\u753b\u3092\u898b\u3066\u3044\u305f\u3060\u3044\u305f\u65b9\u304c\u3001\u672c\u8a18\u4e8b\u306e\u5185\u5bb9\u3092\u7406\u89e3\u3057\u3084\u3059\u3044\u304b\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<h1>\u5f37\u5316\u5b66\u7fd2\u3068\u306f<\/h1>\n<p>\u6700\u521d\u306b\u3001\u5f37\u5316\u5b66\u7fd2\u3068\u306f\u4f55\u304b\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002\u5f37\u5316\u5b66\u7fd2\u306f\u6a5f\u68b0\u5b66\u7fd2\u306e\u4e00\u7a2e\u3067\u3059\u3002\u3068\u3066\u3082\u3056\u3063\u304f\u308a\u5206\u985e\u3059\u308b\u3068\u3001\u6a5f\u68b0\u5b66\u7fd2\u3092\u300c\u5f37\u5316\u5b66\u7fd2\u300d\u3068\u300c\u305d\u308c\u4ee5\u5916\u306e\u6a5f\u68b0\u5b66\u7fd2\u300d\u306e\u4e8c\u3064\u306b\u5206\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u305d\u3057\u3066\u3001\u305d\u308c\u305e\u308c\u306b\u5bfe\u3057\u3066\u6df1\u5c64\u30cb\u30e5\u30fc\u30e9\u30eb\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u3092\u4f7f\u3063\u305f&#8221;\u6df1\u5c64\u5316&#8221;\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u547c\u3073\u65b9\u306f\u3044\u308d\u3044\u308d\u3042\u308a\u307e\u3059\u304c\u3001\u3053\u3053\u3067\u306f\u305d\u308c\u305e\u308c\u300c\u6df1\u5c64\u5f37\u5316\u5b66\u7fd2\u300d\u3068\u300c\u901a\u5e38\u306e\u6df1\u5c64\u5b66\u7fd2\u300d\u3068\u547c\u3076\u3053\u3068\u306b\u3057\u307e\u3059\u3002<\/p>\n<p>\u300c\u901a\u5e38\u306e\u6df1\u5c64\u5b66\u7fd2\u300d\u306f\u3001\u4f8b\u3048\u3070\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" width=\"1072\" height=\"532\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/\u901a\u5e38\u306e\u6df1\u5c64\u5b66\u7fd2\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0.png\" alt=\"\" class=\"aligncenter size-full wp-image-4161\" \/><\/p>\n<p>\u81ea\u52d5\u8eca\u306e\u753b\u50cf\u304c\u5165\u529b\u3055\u308c\u305f\u6642\u3001\u305d\u306e\u753b\u50cf\u304c &#8220;Car&#8221; \u3067\u3042\u308b\u3053\u3068\u3092\u5224\u5b9a\u3057\u3001\u305d\u306e\u6587\u5b57\u3084\u756a\u53f7\u3092\u51fa\u529b\u3057\u307e\u3059\u3002\u305d\u308c\u306b\u5bfe\u3057\u3066\u3001\u300c\u6df1\u5c64\u5f37\u5316\u5b66\u7fd2\u300d\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" width=\"862\" height=\"796\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/\u6df1\u5c64\u5f37\u5316\u5b66\u7fd2\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0.png\" alt=\"\" class=\"aligncenter size-full wp-image-4167\" \/><\/p>\n<p>\u5f37\u5316\u5b66\u7fd2\u306f\u3001\u5e38\u306b\u74b0\u5883\u3068\u306e\u76f8\u4e92\u4f5c\u7528\u3092\u884c\u3063\u3066\u3044\u307e\u3059\u3002\u74b0\u5883\u304b\u3089\u4f4d\u7f6e\u3084\u89d2\u5ea6\u306e\u60c5\u5831\u3092\u5f97\u3066\u3001\u305d\u306e\u72b6\u614b\u306b\u304a\u3051\u308b\u6700\u9069\u306a\u30a2\u30af\u30bb\u30eb\u91cf\u3084\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u3092\u51fa\u529b\u3057\u307e\u3059\u3002\u305d\u3057\u3066\u305d\u306e\u51fa\u529b\u306f\u3001\u74b0\u5883\u306b\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u5f93\u3063\u3066\u3001\u5f37\u5316\u5b66\u7fd2\u306f\u5e38\u306b\u74b0\u5883\u3068\u76f8\u4e92\u4f5c\u7528\u3092\u3057\u306a\u304c\u3089\u5b66\u7fd2\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002\u305d\u3057\u3066\u3001\u5b66\u7fd2\u5f8c\u3082\u3053\u306e\u76f8\u4e92\u4f5c\u7528\u3092\u884c\u3046\u5f62\u3067\u5b9f\u88c5\u3055\u308c\u307e\u3059\u3002\u3053\u306e\u5f62\u306f\u3001\u307e\u3055\u306b\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u5668\u306e\u69cb\u9020\u305d\u306e\u3082\u306e\u3067\u3059\u3088\u306d\u3002\u306a\u306e\u3067\u300c\u5f37\u5316\u5b66\u7fd2\u306f\u5236\u5fa1\u8a2d\u8a08\u306b\u4f7f\u3048\u308b\uff01\u300d\u3068\u3044\u3046\u8a71\u306b\u306a\u3063\u3066\u3044\u308b\u308f\u3051\u3067\u3059\u3002<\/p>\n<h1>\u7269\u7406\u30e2\u30c7\u30ea\u30f3\u30b0\u3068\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u8a2d\u8a08<\/h1>\n<p>\u4eca\u56de\u3001\u305d\u306e\u6df1\u5c64\u5f37\u5316\u5b66\u7fd2\u3092\u5236\u5fa1\u306b\u7528\u3044\u3001\u5b9f\u6a5f\u691c\u8a3c\u307e\u3067\u884c\u3046\u3053\u3068\u3092\u76ee\u6a19\u306b\u3057\u307e\u3057\u305f\u3002\u5b9f\u6a5f\u306f\u3001Quanser \u793e\u306e\u300cQUBE &#8211; Servo 2\u300d\u3068\u3044\u3046\u5012\u7acb\u632f\u5b50\u306e\u88c5\u7f6e\u3092\u7528\u3044\u307e\u3059\u3002\u5236\u5fa1\u30dc\u30fc\u30c9\u306f\u300cQFLEX 2 Embedded\u300d\u3092\u7528\u3044\u3001\u300cRaspberry Pi 3 Model B+\u300d\u3068\u63a5\u7d9a\u3057\u3001\u5236\u5fa1\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<p>\u300cQUBE &#8211; Servo 2\u300d\u306e\u69cb\u9020\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" width=\"976\" height=\"587\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/QUBE_Servo_2_\u69cb\u9020.png\" alt=\"\" class=\"aligncenter size-full wp-image-4170\" \/><\/p>\n<p>\u5165\u529b\u3059\u308b\u30e2\u30fc\u30bf\u30fc\u30c8\u30eb\u30af\u306f1\u7b87\u6240\u3067\u3042\u308a\u3001\u56de\u8ee2\u3059\u308b\u90e8\u5206\u306f2\u7b87\u6240\u3042\u308a\u307e\u3059\u3002\u8a08\u6e2c\u3067\u304d\u308b\u89d2\u5ea6\u3082\u3001\u305d\u306e2\u7b87\u6240\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u306e\u69cb\u9020\u306f\u3001\u5236\u5fa1\u5de5\u5b66\u306e\u7528\u8a9e\u3067\u8a00\u3046\u3068\u3001\u52a3\u99c6\u52d5\u3068\u8a00\u3044\u307e\u3059\u3002\u8981\u3059\u308b\u306b\u3001\u3061\u3087\u3063\u3068\u96e3\u3057\u3044\u3084\u3064\u3001\u3068\u3044\u3046\u3053\u3068\u3067\u3059\u3002<\/p>\n<p>\u5236\u5fa1\u8a2d\u8a08\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u3001\u307e\u305a\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30e2\u30c7\u30eb\u304c\u5fc5\u8981\u3067\u3059\u3002\u3053\u306e\u632f\u308a\u5b50\u306e\u30e2\u30c7\u30eb\u3092 Simscape Electrical\u2122\u3001Simscape Multibody\u2122 \u3092\u4f7f\u3063\u3066\u30e2\u30c7\u30eb\u5316\u3057\u307e\u3057\u305f\u3002\u4e0a\u8a18\u306e\u753b\u50cf\u306f\u305d\u306e\u30e2\u30c7\u30eb\u306e\u753b\u50cf\u3067\u3059\u3002<\/p>\n<p>\u305d\u3057\u3066\u30e2\u30c7\u30eb\u306e\u59a5\u5f53\u6027\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u3001\u7c21\u5358\u306a\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u3092\u69cb\u6210\u3057\u3001\u5012\u7acb\u72b6\u614b\u3092\u7dad\u6301\u3067\u304d\u308b\u304b\u3069\u3046\u304b\u3092\u78ba\u8a8d\u3057\u307e\u3057\u305f\u3002\u52a0\u3048\u3066\u3001QUBE &#8211; Servo 2 \u3068 Raspberry Pi \u304c\u6b63\u3057\u304f\u52d5\u4f5c\u3057\u3066\u3044\u308b\u304b\u3092\u691c\u8a3c\u3059\u308b\u305f\u3081\u306b\u3082\u3001\u3053\u306e\u6bb5\u968e\u3067\u78ba\u8a8d\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308a\u307e\u3057\u305f\u3002<\/p>\n<p>\u5b8c\u6210\u307e\u3067\u3044\u308d\u3044\u308d\u3042\u308a\u307e\u3057\u305f\u304c\u3001\u554f\u984c\u306a\u304f\u5012\u7acb\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3057\u305f\uff08\u4eca\u56de\u306f\u5f37\u5316\u5b66\u7fd2\u304c\u30e1\u30a4\u30f3\u306a\u306e\u3067\u3001\u8a73\u7d30\u306f\u5272\u611b\u3057\u307e\u3059\uff09\u3002<\/p>\n<p><div style=\"width: 1280px;\" class=\"wp-video\"><!--[if lt IE 9]><script>document.createElement('video');<\/script><![endif]-->\n<video class=\"wp-video-shortcode\" id=\"video-4152-1\" width=\"1280\" height=\"720\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/PID_\u5012\u7acb\u306e\u52d5\u753b2.mp4?_=1\" \/><a href=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/PID_\u5012\u7acb\u306e\u52d5\u753b2.mp4\">https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/PID_\u5012\u7acb\u306e\u52d5\u753b2.mp4<\/a><\/video><\/div><\/p>\n<p>\u300c\u305d\u3082\u305d\u3082\u3001\u5b9f\u6a5f\u304c\u3042\u308b\u306e\u3060\u304b\u3089\u5b9f\u6a5f\u3067\u5b66\u7fd2\u3055\u305b\u308c\u3070\u3044\u3044\u306e\u3067\u306f\uff1f\u300d\u3068\u601d\u3046\u65b9\u3082\u3044\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002\u3057\u304b\u3057\u3001\u305d\u308c\u306f\u73fe\u5b9f\u7684\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n<p>\u4eca\u56de\u306e\u30c7\u30e2\u3092\u5b8c\u6210\u3055\u305b\u308b\u307e\u3067\u306b\u30015\u4e07\uff5e10\u4e07\u56de\u307b\u3069\u306e\u30a8\u30d4\u30bd\u30fc\u30c9\u5b9f\u884c\u3092\u7e70\u308a\u8fd4\u3057\u307e\u3057\u305f\u3002\u3053\u306e\u9593\u3001\u5012\u7acb\u632f\u5b50\u88c5\u7f6e\u3092\u6fc0\u3057\u304f\u52d5\u304b\u3057\u307e\u3059\u306e\u3067\u3001\u00b1150deg\u306e\u4f4d\u7f6e\u306b\u3042\u308b\u30b9\u30c8\u30c3\u30d1\u30fc\u306b\u5fc5\u305a\u6fc0\u7a81\u3057\u307e\u3059\u3002\u88c5\u7f6e\u306e\u640d\u8017\u306f\u78ba\u5b9f\u306b\u9032\u307f\u3001\u304a\u305d\u3089\u304f\u30c7\u30e2\u304c\u5b8c\u6210\u3059\u308b\u524d\u306b\u58ca\u308c\u3066\u3044\u305f\u3053\u3068\u3067\u3057\u3087\u3046\u3002\u5f93\u3063\u3066\u3001\u5b66\u7fd2\u306f\u306a\u308b\u3079\u304f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u884c\u3046\u3079\u304d\u3067\u3059\u3002<\/p>\n<h1>\u5f37\u5316\u5b66\u7fd2\u306b\u3088\u308b\u8ecc\u9053\u751f\u6210\u5236\u5fa1<\/h1>\n<p>\u4eca\u56de\u884c\u3044\u305f\u3044\u5012\u7acb\u52d5\u4f5c\u306f\u3001\u771f\u4e0b\u306b\u5411\u3044\u3066\u3044\u308b\u632f\u308a\u5b50\u3092\u771f\u4e0a\u306b\u5411\u3051\u3001\u305d\u306e\u89d2\u5ea6\u3092\u7dad\u6301\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u65e9\u901f\u5f37\u5316\u5b66\u7fd2\u3092\u8a2d\u8a08\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5b66\u7fd2\u3092\u3055\u305b\u307e\u3057\u305f\u3002\u3068\u3053\u308d\u304c\u3001\u3084\u3063\u3066\u3082\u3084\u3063\u3066\u3082\u3001\u5168\u7136\u3046\u307e\u304f\u3044\u304d\u307e\u305b\u3093\u3002\u306a\u305c\u3067\u304d\u306a\u3044\u306e\u304b\u8003\u3048\u7d9a\u3051\u305f\u7d50\u679c\u3001\u5f97\u3089\u308c\u305f\u7d50\u8ad6\u306f\u300c\u672c\u30e2\u30c7\u30eb\u306e\u5012\u7acb\u30bf\u30b9\u30af\u306f\u96e3\u3057\u3059\u304e\u308b\u300d\u3068\u3044\u3046\u3053\u3068\u3067\u3057\u305f\u3002<\/p>\n<p>\u4f55\u304c\u96e3\u3057\u3044\u306e\u304b\u3068\u3044\u3046\u3068\u3001\u4f8b\u3048\u3070\u3053\u306e\u30b7\u30b9\u30c6\u30e0\u306b\u306f\u5c40\u6240\u89e3\u304c\u5b58\u5728\u3057\u3066\u304a\u308a\u3001\u305d\u3053\u306b\u30cf\u30de\u3063\u3066\u3057\u307e\u3046\u3053\u3068\u3067\u3059\u30024\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u3068\u6bd4\u3079\u308c\u3070\u9065\u304b\u306b\u30b7\u30f3\u30d7\u30eb\u306a\u69cb\u9020\u3067\u3042\u308b\u4eca\u56de\u306e\u30e2\u30c7\u30eb\u3067\u3082\u3001\u5c40\u6240\u89e3\u304c\u3042\u308a\u307e\u3059\u3002\u9006\u306b\u3001\u4e16\u306e\u4e2d\u3067\u3088\u304f\u884c\u308f\u308c\u3066\u3044\u308b<a href=\"https:\/\/jp.mathworks.com\/help\/reinforcement-learning\/ug\/quadruped-robot-locomotion-using-ddpg-gent.html\" target=\"_blank\">4\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u30e2\u30c7\u30eb<\/a>\u306a\u3069\u306f\u3001\u5c40\u6240\u89e3\u304c\u767a\u751f\u3057\u306a\u3044\u3088\u3046\u306b\u3001\u5f37\u5316\u5b66\u7fd2\u306b\u90fd\u5408\u3088\u304f\u8a2d\u8a08\u3055\u308c\u3066\u3044\u308b\u3001\u3068\u3044\u3046\u306e\u304c\u79c1\u306e\u898b\u89e3\u3067\u3059\u3002<\/p>\n<p>\u3053\u306e\u3088\u304f\u3042\u308b4\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u30c6\u30f3\u30d7\u30ec\u30e2\u30c7\u30eb\u306f\u3001\u6b69\u884c\u306e\u901f\u5ea6\u5236\u5fa1\u3092\u884c\u3063\u3066\u3044\u307e\u305b\u3093\u3002\u305d\u306e\u70b9\u304c\u6c17\u306b\u5165\u3089\u306a\u304b\u3063\u305f\u79c1\u306f\u3001\u901f\u5ea6\u6307\u4ee4\u5024\u3092\u5165\u308c\u3066\u5236\u5fa1\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u305f\u306e\u3067\u3059\u304c\u3001\u5c40\u6240\u89e3\u306b\u30cf\u30de\u3063\u3066\u5168\u7136\u5b66\u7fd2\u3057\u3066\u304f\u308c\u306a\u304b\u3063\u305f\u3053\u3068\u304c\u3042\u308a\u307e\u3057\u305f\u3002<\/p>\n<p>\u4ed6\u306b\u3082\u3001\u5f37\u5316\u5b66\u7fd2\u304c\u82e6\u624b\u3068\u3059\u308b\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u3002\u9577\u304f\u306a\u308a\u307e\u3059\u306e\u3067\u3001\u5225\u306b\u7528\u610f\u3057\u307e\u3057\u305f\u3002<a href=\"https:\/\/github.com\/mathworks\/Reinforcement-Learning-Inverted-Pendulum-with-QUBE-Servo2\/blob\/master\/RL\/RL_design_difficulty_ja_md.md\" target=\"_blank\" class=\"external\" rel=\"nofollow\">\u3053\u3061\u3089<\/a>\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u8208\u5473\u304c\u3042\u308a\u307e\u3057\u305f\u3089\u8aad\u3093\u3067\u307f\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u6700\u7d42\u7684\u306b\u306f\u3001\u5f37\u5316\u5b66\u7fd2\u5358\u4f53\u3067\u5236\u5fa1\u3059\u308b\u3053\u3068\u306f\u8ae6\u3081\u3001\u300c\u5f37\u5316\u5b66\u7fd2\u306b\u3088\u308b\u8ecc\u9053\u751f\u6210\u5236\u5fa1\u300d\u3068\u3044\u3046\u30a2\u30a4\u30c7\u30a2\u306e\u3082\u3068\u300c\u5012\u7acb\u30bf\u30b9\u30af\u300d\u3092\u8981\u7d20\u5206\u89e3\u3057\u3001PID\u5236\u5fa1\u3068\u5f37\u5316\u5b66\u7fd2\u3092\u7d44\u307f\u5408\u308f\u305b\u3066\u305d\u308c\u3092\u9054\u6210\u3057\u307e\u3057\u305f\u3002\u3053\u3061\u3089\u306e\u65b9\u304c\u3001\u5b9f\u969b\u306e\u5236\u5fa1\u306e\u73fe\u5834\u3067\u63a1\u7528\u3057\u3084\u3059\u3044\u3067\u3059\u3002\u8a73\u7d30\u306f<a href=\"https:\/\/www.youtube.com\/watch?v=weGOUlt0-QQ\" target=\"_blank\" class=\"external\" rel=\"nofollow\">\u52d5\u753b<\/a>\u3067\u8aac\u660e\u3057\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u662f\u975e\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u3061\u306a\u307f\u306b\u3001PID\u5236\u5fa1\u306f5ms\u3001\u5f37\u5316\u5b66\u7fd2\u306e\u30dd\u30ea\u30b7\u30fc\u306f20ms\u5468\u671f\u3067\u5b9f\u884c\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<h1>\u5f37\u5316\u5b66\u7fd2\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8<\/h1>\n<p>\u5f37\u5316\u5b66\u7fd2\u306e\u5b66\u7fd2\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3068\u65b9\u7b56\uff08\u30dd\u30ea\u30b7\u30fc\uff09\u306e\u30bb\u30c3\u30c8\u3092\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3068\u547c\u3093\u3067\u3044\u307e\u3059\u3002\u65e5\u9032\u6708\u6b69\u3067\u65b0\u3057\u3044\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u304c\u8003\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u3053\u306f MATLAB \u3067\u4f7f\u3048\u308b\u4e2d\u3067\u6700\u65b0\u306e\u3082\u306e\u3092\u9078\u3073\u307e\u3057\u3087\u3046\uff08\u8a18\u4e8b\u57f7\u7b46\u6642\u70b9\u3067\u306f R2021a \u304c\u6700\u65b0\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u3059\uff09\u3002\u4eca\u56de\u306f PPO \u3068 SAC \u3092\u9078\u3073\u307e\u3057\u305f\u3002<\/p>\n<p>\u79c1\u306f\u5f37\u5316\u5b66\u7fd2\u306e\u5c02\u9580\u5bb6\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u306e\u3067\u3001\u5b8c\u5168\u306b\u306f\u7406\u89e3\u3067\u304d\u3066\u3044\u307e\u305b\u3093\u304c\u3001SAC \u306f\u7279\u306b\u30c0\u30a4\u30ca\u30df\u30c3\u30af\u3067\u8907\u96d1\u306a\u52d5\u4f5c\u3092\u5b66\u7fd2\u3059\u308b\u3053\u3068\u306b\u9577\u3051\u3066\u3044\u308b\u3068\u601d\u3044\u307e\u3059\u3002\u3088\u3063\u3066\u3001\u4eca\u56de\u306f&#8221;\u632f\u308a\u4e0a\u3052&#8221;\u306b SAC\u3001&#8221;\u30e2\u30fc\u30c9\u9078\u629e&#8221;\u306b PPO \u3092\u7528\u3044\u308b\u3053\u3068\u3068\u3057\u307e\u3057\u305f\u3002<\/p>\n<p>\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u8a2d\u8a08\u306f MATLAB \u306e\u30b9\u30af\u30ea\u30d7\u30c8\u3067\u7c21\u5358\u306b\u4f5c\u6210\u3067\u304d\u307e\u3059\u3002\u3061\u306a\u307f\u306b R2021a \u304b\u3089 <a href=\"https:\/\/jp.mathworks.com\/help\/reinforcement-learning\/ref\/reinforcementlearningdesigner-app.html\" target=\"_blank\">GUI \u30a2\u30d7\u30ea<\/a>\u304c\u4f7f\u3048\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u304c\u3001\u6163\u308c\u308b\u3068\u30b3\u30de\u30f3\u30c9\u306e\u65b9\u304c\u65e9\u3044\u3067\u3059\uff08\u7b11\uff09\u3002<\/p>\n<h1>\u5831\u916c\u95a2\u6570\u306e\u8a2d\u8a08<\/h1>\n<p>\u5831\u916c\u95a2\u6570\u306f Simulink \u3067\u8a2d\u8a08\u3067\u304d\u307e\u3059\u3002\u5831\u916c\u95a2\u6570\u304c\u3001\u5f37\u5316\u5b66\u7fd2\u306e\u5236\u5fa1\u6027\u80fd\u3092\u6c7a\u3081\u308b\u6700\u3082\u91cd\u8981\u306a\u8981\u7d20\u3067\u3059\u3002\u7d76\u5bfe\u7684\u306a\u5f62\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u3072\u305f\u3059\u3089\u30c8\u30e9\u30a4\uff06\u30a8\u30e9\u30fc\u3067\u8abf\u6574\u3092\u9032\u3081\u308b\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u5831\u916c\u306e\u8a2d\u8a08\u306f&#8221;\u30b3\u30b9\u30c8\u95a2\u6570&#8221;\u3068&#8221;\u6210\u529f\u5831\u916c&#8221;\u306e\u7d44\u307f\u5408\u308f\u305b\u304c\u6700\u3082\u30dd\u30d4\u30e5\u30e9\u30fc\u3067\u3059\u3002&#8221;\u30b3\u30b9\u30c8\u95a2\u6570&#8221;\u306f\u3001\u72b6\u614b\u91cf\u3068\u305d\u306e\u76ee\u6a19\u5024\u3068\u306e\u5dee\u5206\u3092\u8a55\u4fa1\u3057\u3066\u3044\u307e\u3059\u3002\u9023\u7d9a\u7684\u3067\u5b89\u5b9a\u3057\u305f\u8a55\u4fa1\u5024\u3092\u5f97\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002&#8221;\u6210\u529f\u5831\u916c&#8221;\u306f\u3001\u3042\u308b\u30b4\u30fc\u30eb\u306b\u9054\u6210\u3057\u305f\u6642\u306b\u5831\u916c\u3092\u4e0e\u3048\u308b\u3068\u3044\u3046\u5f62\u3067\u3059\u3002\u4e0d\u9023\u7d9a\u3067\u3042\u308a\u3001\u305d\u306e\u30b4\u30fc\u30eb\u306b\u9054\u3057\u306a\u3044\u3068\u5168\u304f\u5831\u916c\u304c\u5f97\u3089\u308c\u306a\u3044\u306e\u3067\u4e0d\u5b89\u5b9a\u3067\u3059\u3002\u3057\u304b\u3057\u3001\u30b4\u30fc\u30eb\u3092\u898b\u3064\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u308c\u3070\u3001\u305d\u308c\u306b\u5411\u304b\u3046\u5f37\u3044\u30a4\u30f3\u30bb\u30f3\u30c6\u30a3\u30d6\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u4eca\u56de\u306e\u30c7\u30e2\u3067\u306f\u3001\u30e2\u30fc\u30bf\u30fc\u89d2\u5ea6\u3068\u632f\u308a\u5b50\u306e\u89d2\u5ea6\u30920\u306b\u8fd1\u3065\u3051\u308b\u3088\u3046\u306b\u5831\u916c\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u7d50\u69cb\u30b7\u30f3\u30d7\u30eb\u306a\u5f0f\u3067\u5012\u7acb\u3092\u5b9f\u73fe\u3067\u304d\u307e\u3057\u305f\u304c\u3001\u3053\u308c\u306f\u30bf\u30b9\u30af\u3092\u5206\u89e3\u3057\u305f\u304a\u304b\u3052\u3060\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<h1>\u5b66\u7fd2\u7d50\u679c<\/h1>\n<p>\u5b66\u7fd2\u306e\u904e\u7a0b\u3067\u5831\u916c\u304c\u3069\u306e\u3088\u3046\u306b\u63a8\u79fb\u3057\u305f\u304b\u3001\u306b\u3064\u3044\u3066\u306f\u300c\u5f37\u5316\u5b66\u7fd2\u30a8\u30d4\u30bd\u30fc\u30c9\u30de\u30cd\u30fc\u30b8\u30e3\u30fc\u300d\u3068\u3044\u3046\u30a6\u30a3\u30f3\u30c9\u30a6\u3067\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002\u4f8b\u3048\u3070&#8221;\u632f\u308a\u4e0a\u3052&#8221;\u306e\u5b66\u7fd2\u7d50\u679c\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" width=\"1004\" height=\"623\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/\u5b66\u7fd2_\u30a8\u30d4\u30bd\u30fc\u30c9\u30de\u30cd\u30fc\u30b8\u30e3\u30fc.png\" alt=\"\" class=\"aligncenter size-full wp-image-4173\" \/><\/p>\n<p>\u30bf\u30b9\u30af\u5206\u5272\u3092\u3059\u308b\u524d\u306f\u3001\u3053\u308c\u306e\u5931\u6557\u753b\u9762\u3092\u4f55\u5ea6\u898b\u305f\u3053\u3068\u304b\u5206\u304b\u308a\u307e\u305b\u3093\u3002\u305d\u3057\u3066\u3053\u306e1\u56de\u306e\u8a66\u884c\u306b10\u6642\u9593\u4ee5\u4e0a\u304b\u304b\u3063\u305f\u308a\u3057\u307e\u3059\u3002\u6b63\u76f4\u3001\u300c\u30c8\u30e9\u30a4\uff06\u30a8\u30e9\u30fc\u306b\u6642\u9593\u304c\u304b\u304b\u308b\u300d\u3068\u3044\u3046\u6240\u304c\u5f37\u5316\u5b66\u7fd2\u306e\u4e00\u756a\u5acc\u306a\u6240\u3067\u3059\uff08\uff1b-\uff1b)<\/p>\n<p>\u5b8c\u6210\u3057\u305f\u5012\u7acb\u52d5\u4f5c\u306f\u4ee5\u4e0b\u3067\u3059\u3002\u7dba\u9e97\u306b\u6301\u3061\u4e0a\u3052\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3057\u305f\u3002<\/p>\n<p><div style=\"width: 656px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-4152-2\" width=\"656\" height=\"394\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/Invert_0_5.mp4?_=2\" \/><a href=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/Invert_0_5.mp4\">https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/Invert_0_5.mp4<\/a><\/video><\/div><\/p>\n<h1>C\u30b3\u30fc\u30c9\u751f\u6210\u3068PIL\u691c\u8a3c<\/h1>\n<p>\u5b66\u7fd2\u6e08\u307f\u30dd\u30ea\u30b7\u30fc\u3092\u5f97\u307e\u3057\u305f\u306e\u3067\u3001\u3044\u3088\u3044\u3088\u5b9f\u6a5f\u306b\u5b9f\u88c5\u3057\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u3044\u304d\u306a\u308a\u5b9f\u6a5f\u306b\u5b9f\u88c5\u3059\u308b\u306e\u3067\u306f\u306a\u304f\u3001\u307e\u305a\u5b9f\u88c5\u304c\u6210\u308a\u7acb\u3064\u306e\u304b\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002\u4eca\u56de\u306e\u30e2\u30c7\u30eb\u306f<a href=\"https:\/\/www.youtube.com\/watch?v=weGOUlt0-QQ\" target=\"_blank\" class=\"external\" rel=\"nofollow\">\u52d5\u753b<\/a>\u3067\u8aac\u660e\u3057\u307e\u3057\u305f\u901a\u308a\u3001\u554f\u984c\u306a\u304f\u5b9f\u88c5\u3067\u304d\u308b\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3057\u305f\u3002<\/p>\n<p>\u3068\u3053\u308d\u3067\u3001\u5f37\u5316\u5b66\u7fd2\u306e\u30dd\u30ea\u30b7\u30fc\u306f\u7c21\u5358\u306a\u6df1\u5c64\u30cb\u30e5\u30fc\u30e9\u30eb\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u3067\u69cb\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u3001\u5168\u7d50\u5408\u5c64\u3068\u6d3b\u6027\u5316\u95a2\u6570\u3067\u3059\u3002\u5168\u7d50\u5408\u5c64\u306f\u3001<\/p>\n<p>Out =\u00a0W * In + b<\/p>\n<p>\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002W\u306f\u91cd\u307f\u884c\u5217\u3001b\u306f\u30d0\u30a4\u30a2\u30b9\u30d9\u30af\u30c8\u30eb\u3067\u3059\u3002\u554f\u984c\u306f\u305d\u306e\u5927\u304d\u3055\u3067\u3059\u304c\u3001\u4eca\u56de\u306f\u5f37\u5316\u5b66\u7fd2\u3067\u3088\u304f\u4f7f\u308f\u308c\u3066\u3044\u308b300\u3084400\u3068\u8a00\u3063\u305f\u884c\u5217\u30b5\u30a4\u30ba\u3067\u8a2d\u8a08\u3057\u307e\u3057\u305f\u3002\u91cf\u7523\u30de\u30a4\u30b3\u30f3\u3067\u306f\u304d\u3064\u3044\u3067\u3059\u304c\u3001Raspberry Pi \u3067\u3042\u308c\u3070\u5927\u4e08\u592b\u3067\u3059\u30021\u30b9\u30c6\u30c3\u30d7\u5f53\u305f\u308a\u306e\u8a08\u7b97\u6642\u9593\u306f\u7d042.68ms\u3001CPU\u8ca0\u8377\u7387\u3068\u3057\u3066\u306f\u7d0413%\u3067\u3057\u305f\u306e\u3067\u3001\u4f59\u88d5\u3092\u3082\u3063\u3066\u5b9f\u884c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u6d3b\u6027\u5316\u95a2\u6570\u306f ReLU \u3084 tanh \u306a\u3069\u3092\u4f7f\u3044\u307e\u3059\u3002\u5f93\u3063\u3066\u3001\u8a08\u7b97\u5f0f\u306f\u3068\u3066\u3082\u30b7\u30f3\u30d7\u30eb\u3067\u5206\u5c90\u3082\u7121\u3044\u305f\u3081\u3001\u5e38\u306b\u8a08\u7b97\u91cf\u306f\u4e00\u5b9a\u306b\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u306f\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5b9f\u884c\u306b\u9069\u7528\u3057\u3084\u3059\u3044\u3001\u826f\u3044\u7279\u5fb4\u3067\u3059\u3002\u3061\u306a\u307f\u306b\u3001\u305d\u3082\u305d\u3082 Linux \u3067\u52d5\u3044\u3066\u3044\u308b Raspberry Pi \u304c\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5b9f\u884c\u3067\u304d\u308b\u306e\u304b\u3001\u3068\u3044\u3046\u554f\u984c\u304c\u3042\u308a\u307e\u3059\u3002\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u6027\u306f PIL \u3067\u306f\u78ba\u8a8d\u3067\u304d\u307e\u305b\u3093\u3002<a href=\"https:\/\/blogs.mathworks.com\/japan-community\/2020\/04\/16\/simulink-desktop-real-time\/\" target=\"_blank\">\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u304a\u3058\u3055\u3093<\/a>\u3067\u3042\u308b\u79c1\u306f\u3001\u4e00\u5fdc\u30aa\u30b7\u30ed\u3092\u4f7f\u3063\u3066\u78ba\u8a8d\u3057\u307e\u3057\u305f\u3002\u7d50\u69cb\u3061\u3083\u3093\u3068\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u3057\u305f\uff01<\/p>\n<h1>\u5b9f\u6a5f\u691c\u8a3c<\/h1>\n<p>\u5b9f\u6a5f\u5b9f\u884c\u3057\u305f\u7d50\u679c\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n<p><div style=\"width: 1920px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-4152-3\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/\u5b9f\u6a5f\u5b9f\u884c_\u52d5\u753b.mp4?_=3\" \/><a href=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/\u5b9f\u6a5f\u5b9f\u884c_\u52d5\u753b.mp4\">https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/\u5b9f\u6a5f\u5b9f\u884c_\u52d5\u753b.mp4<\/a><\/video><\/div><\/p>\n<p>\u7dba\u9e97\u306b\u3067\u304d\u307e\u3057\u305f\u306d\u3002\u5b9f\u306f\u3001\u6210\u529f\u7387\u306f5\u5272\u7a0b\u5ea6\u306a\u306e\u3067\u3059\u304c&#8230;<\/p>\n<p>\u771f\u4e0b\u306b\u5411\u3044\u3066\u9759\u6b62\u3057\u3066\u3044\u308b\u6240\u304b\u3089\u632f\u308a\u4e0a\u3052\u308b\u306e\u3082\u3001\u9014\u4e2d\u632f\u52d5\u3057\u3066\u3044\u308b\u6240\u304b\u3089\u632f\u308a\u4e0a\u3052\u308b\u306e\u3082\u4f55\u5ea6\u304b\u8a66\u3057\u307e\u3057\u305f\u304c\u3001\u540c\u3058\u3088\u3046\u306b5\u5272\u306f\u5931\u6557\u3057\u307e\u3059\u3002\u300c\u5931\u6557\u300d\u3068\u3044\u3046\u306e\u306f\u3001\u30e2\u30fc\u30bf\u30fc\u89d2\u5ea6\u304c150\u00b0\u4ee5\u4e0a\u56de\u8ee2\u3057\u3066\u3057\u307e\u3044\u3001\u53f0\u5ea7\u306b\u4ed8\u3051\u3089\u308c\u3066\u3044\u308b\u30b9\u30c8\u30c3\u30d1\u30fc\u306b\u3076\u3064\u304b\u3063\u305f\u3068\u3044\u3046\u3053\u3068\u3067\u3059\u3002\u5b89\u5168\u306e\u305f\u3081\u3001\u305d\u3053\u307e\u3067\u56de\u3063\u3066\u3057\u307e\u3063\u305f\u3089\u5f37\u5236\u505c\u6b62\u3055\u305b\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u521d\u671f\u72b6\u614b\u3092\u5909\u3048\u3066\u3082\u7dba\u9e97\u306b\u5012\u7acb\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u306e\u3067\u3001\u3053\u3053\u306f\u30d7\u30e9\u30f3\u30c8\u30e2\u30c7\u30eb\u306e\u8aa4\u5dee\u304c\u52b9\u3044\u3066\u3044\u308b\u3068\u601d\u308f\u308c\u307e\u3059\u3002\u4e00\u65b9\u3067\u3001\u3082\u3063\u3068\u30ed\u30d0\u30b9\u30c8\u306a\u5f37\u5316\u5b66\u7fd2\u3092\u8003\u6848\u3059\u308b\u4f59\u5730\u3082\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<h1>\u307e\u3068\u3081<\/h1>\n<p>MATLAB \u3068 Simulink \u306e\u6a5f\u80fd\u3092\u30d5\u30eb\u6d3b\u7528\u3059\u308b\u3068\u3001AI \u3092\u30e2\u30c7\u30eb\u30d9\u30fc\u30b9\u958b\u767a\u306e\u30d5\u30ed\u30fc\u306b\u843d\u3068\u3057\u8fbc\u3080\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3001\u3068\u3044\u3046\u30c7\u30e2\u3067\u3057\u305f\u3002\u305d\u308c\u306b\u52a0\u3048\u3066\u3001\u5f37\u5316\u5b66\u7fd2\u306e\u5236\u5fa1\u8a2d\u8a08\u5b9f\u7528\u5316\u306b\u5411\u3051\u3066\u3001\u91cd\u8981\u306a\u70b9\u3092\u8aac\u660e\u3057\u305f\u8cc7\u6599\u3067\u3082\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u4eca\u56de\u306e\u3088\u3046\u306b\u672c\u6c17\u3067\u4f55\u304b\u3092\u4f5c\u308d\u3046\u3068\u3059\u308b\u3068\u3088\u304f\u5206\u304b\u308a\u307e\u3059\u304c\u3001MATLAB \u3068\u3044\u3046\u306e\u306f\u3069\u3053\u307e\u3067\u3044\u3063\u3066\u3082&#8221;\u30c4\u30fc\u30eb&#8221;\u3067\u3057\u304b\u3042\u308a\u307e\u305b\u3093\u3002MATLAB \u30e9\u30a4\u30bb\u30f3\u30b9\u3092\u6240\u6709\u3057\u3066\u3044\u308b\u304b\u3089\u3068\u3044\u3063\u3066\u3001\u5f37\u5316\u5b66\u7fd2\u3067\u3082\u4f55\u3067\u3082\u8a2d\u8a08\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308b\u308f\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u305d\u306e\u6280\u8853\u3092\u5b66\u3073\u7fd2\u5f97\u3057\u306a\u3051\u308c\u3070\u3001\u305d\u308c\u3092\u8a2d\u8a08\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u306a\u3044\u306e\u3067\u3059\u3002<\/p>\n<p>\u3082\u3057\u5f37\u5316\u5b66\u7fd2\u306b\u3064\u3044\u3066\u8208\u5473\u3092\u6301\u3063\u3066\u3044\u305f\u3060\u3051\u305f\u306e\u3067\u3042\u308c\u3070\u3001\u5f53\u793e\u306e\u7121\u6599\u30aa\u30f3\u30e9\u30a4\u30f3\u5b66\u7fd2\u30b3\u30f3\u30c6\u30f3\u30c4\u300c<a href=\"https:\/\/matlabacademy.mathworks.com\/jp\/details\/reinforcement-learning-onramp\/reinforcementlearning\" target=\"_blank\">\u5f37\u5316\u5b66\u7fd2\u5165\u9580<\/a>\u300d\u304b\u3089\u5b66\u3076\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u307e\u305f\u3001\u4eca\u56de\u79c1\u304c\u69cb\u7bc9\u3057\u305f\u30e2\u30c7\u30eb\u306f\u4e38\u3054\u3068\u00a0<a href=\"https:\/\/jp.mathworks.com\/matlabcentral\/fileexchange\/99364-reinforcement-learning-inverted-pendulum-with-qube-servo2\" target=\"_blank\">File Exchange<\/a>\u00a0\/\u00a0<a href=\"https:\/\/github.com\/mathworks\/Reinforcement-Learning-Inverted-Pendulum-with-QUBE-Servo2\" target=\"_blank\" class=\"external\" rel=\"nofollow\">GitHub<\/a>\u00a0\u3067\u516c\u958b\u3057\u3066\u3044\u307e\u3059\u3002\u662f\u975e\u3054\u6d3b\u7528\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u6700\u5f8c\u307e\u3067\u8aad\u3093\u3067\u304f\u3060\u3055\u308a\u3001\u3042\u308a\u304c\u3068\u3046\u3054\u3056\u3044\u307e\u3057\u305f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<div class=\"overview-image\"><img decoding=\"async\"  class=\"img-responsive\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2021\/09\/\u901a\u5e38\u306e\u6df1\u5c64\u5b66\u7fd2\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0.png\" onError=\"this.style.display ='none';\" \/><\/div>\n<p>\u672c\u65e5\u306f\u3001&#8221;toshi | Simulink \u306e\u4e2d\u306e\u4eba&#8221; \u3055\u3093\u304b\u3089\u306e\u8a18\u4e8b\u3067\u3059\u3002\u5f7c\u306e\u8a18\u4e8b\u306f\u3044\u3064\u3082\u6559\u80b2\u7684\u8981\u7d20\u304c\u6e80\u8f09\u306a\u306e\u3067\u697d\u3057\u307f\u306b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u3053\u3093\u306b\u3061\u306f\u3002\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u30a8\u30f3\u30b8\u30cb\u30a2\u30ea\u30f3\u30b0\u90e8\u306e toshi | Simulink&#8230; <a class=\"read-more\" href=\"https:\/\/blogs.mathworks.com\/japan-community\/2021\/10\/13\/control-design-with-reinforcement-learning\/\">read more >><\/a><\/p>\n","protected":false},"author":35,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[61],"tags":[],"_links":{"self":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/4152"}],"collection":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/users\/35"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/comments?post=4152"}],"version-history":[{"count":12,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/4152\/revisions"}],"predecessor-version":[{"id":4951,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/4152\/revisions\/4951"}],"wp:attachment":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/media?parent=4152"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/categories?post=4152"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/tags?post=4152"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}