学習時間を短くする処理の追加 #13
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学習時間を短くする処理の追加 #13
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yasuohayashibara
commented
Jun 7, 2022
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| <node pkg="timed_roslaunch" type="timed_roslaunch.sh" | ||
| args="8 nav_cloning turtlebot3_navigation.launch model:=waffle map_file:=$(find nav_cloning)/maps/$(arg map_file) waypoints_file:=$(find nav_cloning)/maps/$(arg waypoints_file) dist_err:=$(arg dist_err) initial_pose_x:=$(arg initial_pose_x) initial_pose_y:=$(arg initial_pose_y) initial_pose_a:=$(arg initial_pose_a) use_waypoint_nav:=$(arg use_waypoint_nav)" | ||
| args="8 nav_cloning turtlebot3_navigation.launch model:=waffle_pi map_file:=$(find nav_cloning)/maps/$(arg map_file) waypoints_file:=$(find nav_cloning)/maps/$(arg waypoints_file) dist_err:=$(arg dist_err) initial_pose_x:=$(arg initial_pose_x) initial_pose_y:=$(arg initial_pose_y) initial_pose_a:=$(arg initial_pose_a) use_waypoint_nav:=$(arg use_waypoint_nav)" |
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モデルがwaffleになっていたので，従来どおりwaffle_piに変更
yasuohayashibara
commented
Jun 7, 2022
| # HYPER PARAM | ||
| BATCH_SIZE = 8 | ||
| MAX_DATA = 10000 | ||
| MAX_DATA = 100000 |
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訓練のために保存するデータ数を増やす
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あと，学習時などにワーニングが出ていましたが，以下を調整することで出なくなりました． |
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あと，今となればそれほど重要な変更ではないかもしれませんが，目標方向の切り替え時にコースアウトすることが多かったので，次の目標位置に切り替わるまでのタイムラグを減らす処理を以下に入れています． |
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学習時間を短くする処理の追加