{"id":40398,"date":"2024-11-04T01:51:24","date_gmt":"2024-11-04T01:51:24","guid":{"rendered":"https:\/\/atmokpo.com\/w\/?p=40398"},"modified":"2024-11-26T06:39:17","modified_gmt":"2024-11-26T06:39:17","slug":"20-%ea%b3%84%ec%b8%b5%ec%a0%81-%ea%b0%95%ed%99%94%ed%95%99%ec%8a%b5hierarchical-rl%ec%9c%bc%eb%a1%9c-%eb%b3%b5%ec%9e%a1%ed%95%9c-%ed%96%89%eb%8f%99-%ed%95%99%ec%8a%b5%ed%95%98%ea%b8%b0-%ec%98%b5","status":"publish","type":"post","link":"https:\/\/atmokpo.com\/w\/40398\/","title":{"rendered":"20. \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(Hierarchical RL)\uc73c\ub85c \ubcf5\uc7a1\ud55c \ud589\ub3d9 \ud559\uc2b5\ud558\uae30, \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\uc640 Feudal RL \uc18c\uac1c"},"content":{"rendered":"<article>\n<header>\n<\/header>\n<section>\n<p>\n            \uac15\ud654\ud559\uc2b5(Reinforcement Learning, RL)\uc740 \uc5d0\uc774\uc804\ud2b8\uac00 \ud658\uacbd\uacfc \uc0c1\ud638\uc791\uc6a9\ud558\uba74\uc11c \ucd5c\uc801\uc758 \ud589\ub3d9(Policy)\uc744 \ud559\uc2b5\ud558\ub294 \ubc29\ubc95\ub860\uc73c\ub85c, \ucd5c\uadfc \ub2e4\uc591\ud55c \ubd84\uc57c\uc5d0\uc11c \uadf8 \uc7a0\uc7ac\ub825\uc744 \uc778\uc815\ubc1b\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ud558\uc9c0\ub9cc, \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \ud559\uc2b5\ud558\ub294 \uac83\uc740 \uc885\uc885 \ub9e4\uc6b0 \uc2dc\uac04\uc774 \uc624\ub798 \uac78\ub9ac\uba70, \ubc29\ub300\ud55c \uc0c1\ud0dc \uacf5\uac04\uc73c\ub85c \uc778\ud574 \ud6a8\uc728\uc801\uc778 \uc815\ucc45 \ud559\uc2b5\uc774 \uc5b4\ub824\uc6b8 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774 \ubb38\uc81c\ub97c \ud574\uacb0\ud558\uae30 \uc704\ud55c \uc811\uadfc \uc911 \ud558\ub098\uac00 \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(Hierarchical Reinforcement Learning, HRL)\uc785\ub2c8\ub2e4.\n        <\/p>\n<p>\n            \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5\uc758 \uae30\ubcf8 \uac1c\ub150\uc744 \uc0b4\ud3b4\ubcf4\uace0, \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\uc640 Feudal RL \ub450 \uac00\uc9c0 \uc8fc\uc694 \ubc29\ubc95\ub860\uc744 \uc18c\uac1c\ud558\uaca0\uc2b5\ub2c8\ub2e4. \uc774\ub97c \ud1b5\ud574 \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \uc5b4\ub5bb\uac8c \uad6c\uc870\ud654\ud558\uace0 \ud559\uc2b5\ud560 \uc218 \uc788\ub294\uc9c0\ub97c \uc774\ud574\ud558\uace0, \uc2e4\uc2b5 \uc608\uc81c\ub97c \ud1b5\ud574 \uc774\ub860\uc744 \uc2e4\uc81c\ub85c \uc801\uc6a9\ud574 \ubcf4\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.\n        <\/p>\n<\/section>\n<section>\n<h2>1. \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(HRL) \uac1c\uc694<\/h2>\n<p>\n            HRL\uc740 \uc804\ud1b5\uc801\uc778 \uac15\ud654\ud559\uc2b5\uc774 \ub2e8\uc77c \ud589\ub3d9 \uc218\uc900\uc5d0\uc11c \uc791\ub3d9\ud558\ub294 \ubc18\uba74, \uc5d0\uc774\uc804\ud2b8\uac00 \ub354\uc6b1 \ub192\uc740 \uc218\uc900\uc758 \ud589\ub3d9 \ubaa8\ub4c8(\ud558\uc704 \uc815\ucc45)\uc744 \uc815\uc758\ud568\uc73c\ub85c\uc368 \uc791\uc5c5\uc744 \uacc4\uce35\uc801\uc73c\ub85c \uad6c\uc870\ud654\ud558\ub294 \ubc29\ubc95\ub860\uc785\ub2c8\ub2e4. HRL\uc758 \uc8fc\ub41c \uc544\uc774\ub514\uc5b4\ub294 \ubcf5\uc7a1\ud55c \uc791\uc5c5\uc744 \ub354 \uac04\ub2e8\ud55c \ud558\uc704 \uc791\uc5c5\uc73c\ub85c \ub098\ub204\uc5b4, \uac01 \ud558\uc704 \uc791\uc5c5\uc744 \ub3c5\ub9bd\uc801\uc73c\ub85c \ud559\uc2b5\ud558\uace0 \uc218\ud589\ud560 \uc218 \uc788\ub3c4\ub85d \ub3c4\uc640\uc8fc\ub294 \uac83\uc785\ub2c8\ub2e4. \uc774\ub97c \ud1b5\ud574 \uc815\ucc45 \ud559\uc2b5\uc758 \ud6a8\uc728\uc131\uc744 \ub192\uc774\uace0, \ub354 \ub098\uc544\uac00 \ud559\uc2b5\uc5d0 \uc18c\uc694\ub418\ub294 \uc2dc\uac04\uc744 \ub2e8\ucd95\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.\n        <\/p>\n<p>\n            HRL\uc740 \uc5ec\ub7ec \uac00\uc9c0 \ubc29\uc2dd\uc73c\ub85c \uad6c\ud604\ub420 \uc218 \uc788\uc9c0\ub9cc, \ub300\ud45c\uc801\uc73c\ub85c \uc635\uc158(framework)\uacfc Feudal RL\uc774 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ub7ec\ud55c \ubc29\ubc95\ub860\ub4e4\uc740 \uac01\uac01 \ub2e4\ub974\uac8c \ud558\uc704 \uc815\ucc45\uc744 \uc815\uc758\ud558\uace0, \uc774\ub97c \ud1b5\ud574 \uace0\ucc28\uc6d0\uc801\uc778 \ud589\ub3d9\uc744 \uc5b4\ub5bb\uac8c \ud559\uc2b5\ud560 \uc218 \uc788\ub294\uc9c0\ub97c \ubcf4\uc5ec\uc90d\ub2c8\ub2e4.\n        <\/p>\n<\/section>\n<section>\n<h2>2. \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c(Options Framework)<\/h2>\n<p>\n            \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\ub294 \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \ub3c5\ub9bd\uc801\uc778 \ud558\uc704 \ud589\ub3d9(modules)\uc73c\ub85c \ub098\ub204\uc5b4 \ud45c\ud604\ud558\ub294 \ubc29\ubc95\ub860\uc785\ub2c8\ub2e4. \uc774\ub54c \uac01\uac01\uc758 \ud558\uc704 \ud589\ub3d9\uc740 &#8216;\uc635\uc158(option)&#8217;\uc73c\ub85c \ubd88\ub9ac\ub294\ub370, \uc774\ub294 \ud2b9\uc815 \ub05d \uc0c1\ud0dc\uc5d0 \ub3c4\ub2ec\ud558\uae30 \uc704\ud574 \ud658\uacbd \ub0b4\uc5d0\uc11c \ud2b9\uc815\ud55c \ud589\ub3d9\ub4e4\uc774 \ub204\uc801\uc801\uc73c\ub85c \uc0ac\uc6a9\ub428\uc744 \uc758\ubbf8\ud569\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4, \ub85c\ubd07\uc774 \ud2b9\uc815\ud55c \uc791\uc5c5\uc744 \uc218\ud589\ud558\uae30 \uc704\ud574 &#8220;\ud314\uc744 \uc6c0\uc9c1\uc778\ub2e4&#8221;, &#8220;\ubb3c\uac74\uc744 \uc9d1\ub294\ub2e4&#8221;\uc640 \uac19\uc740 \uc5ec\ub7ec \uc635\uc158\uc744 \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.\n        <\/p>\n<h3>2.1. \uc635\uc158\uc758 \uad6c\uc131 \uc694\uc18c<\/h3>\n<p>\n            \uac01 \uc635\uc158\uc740 \ub2e4\uc74c\uacfc \uac19\uc740 \uc138 \uac00\uc9c0 \uad6c\uc131 \uc694\uc18c\ub85c \uc815\uc758\ub429\ub2c8\ub2e4:\n        <\/p>\n<ul>\n<li><strong>\uc815\uc758(Domain):<\/strong> \uc635\uc158\uc774 \uc720\ud6a8\ud55c \uc0c1\ud0dc \ubc0f \ud589\ub3d9\uc758 \uc815\uc758\uc785\ub2c8\ub2e4.<\/li>\n<li><strong>\uc885\ub8cc \uc870\uac74(Termination):<\/strong> \uc635\uc158\uc774 \uc5b8\uc81c \uc885\ub8cc\ub418\uc5b4\uc57c \ud558\ub294\uc9c0\ub97c \uc815\uc758\ud569\ub2c8\ub2e4.<\/li>\n<li><strong>\uc815\ucc45(Policy):<\/strong> \uc635\uc158 \ub0b4\uc5d0\uc11c \uc0c1\ud0dc\uc5d0 \ub530\ub77c \ucde8\ud560 \ud589\ub3d9\uc744 \uacb0\uc815\ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n<h3>2.2. \uc635\uc158 \uc54c\uace0\ub9ac\uc998<\/h3>\n<p>\n            \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\ub294 \uc5ec\ub7ec \uac00\uc9c0 \uc54c\uace0\ub9ac\uc998\uc744 \ud1b5\ud574 \uad6c\ud604\ub420 \uc218 \uc788\uc73c\uba70, \ub300\ud45c\uc801\uc73c\ub85c\ub294 \ub2e4\uc74c\uacfc \uac19\uc740 \ubc29\ubc95\ub4e4\uc774 \uc788\uc2b5\ub2c8\ub2e4:\n        <\/p>\n<ul>\n<li><strong>Hierarchical DQN(h-DQN):<\/strong> DQN(Deep Q-Network)\uc744 \uae30\ubc18\uc73c\ub85c \uc635\uc158 \uad6c\uc870\ub97c \ub3c4\uc785\ud558\uc5ec, \uc635\uc158\uc744 \uc120\ud0dd\ud558\uace0 \uc774\ub97c \uae30\ubc18\uc73c\ub85c \ud589\ub3d9\uc744 \uacb0\uc815\ud569\ub2c8\ub2e4.<\/li>\n<li><strong>Option-Critic Architecture:<\/strong> \uc635\uc158\uacfc \uadf8\uc5d0 \ub530\ub978 \uc815\ucc45\uc744 \ub3d9\uc2dc\uc5d0 \ud559\uc2b5\ud560 \uc218 \uc788\ub294 \uc544\ud0a4\ud14d\ucc98\ub85c, \uac01\uac01\uc758 \uc635\uc158\uc744 \ud1b5\ud574 \ub354 \ubcf5\uc7a1\ud55c \uc791\uc5c5\uc744 \uc218\ud589 \uac00\ub2a5\ud558\uac8c \ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n<h3>2.3. \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c \uc2e4\uc2b5 \uc608\uc81c<\/h3>\n<p>\n            \uc544\ub798\ub294 \uac04\ub2e8\ud55c \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\ub97c \uad6c\ud604\ud55c \uc608\uc81c\uc785\ub2c8\ub2e4. \uc774 \uc608\uc81c\uc5d0\uc11c\ub294 \uc0ac\uc804 \uc815\uc758\ub41c \uc635\uc158\uc744 \uc0ac\uc6a9\ud558\uc5ec \uc5d0\uc774\uc804\ud2b8\ub97c \ud6c8\ub828\uc2dc\ud0b5\ub2c8\ub2e4.\n        <\/p>\n<pre>\n<code>\nimport numpy as np\nimport random\n\nclass Option:\n    def __init__(self, name, termination_condition, policy):\n        self.name = name\n        self.termination_condition = termination_condition\n        self.policy = policy\n\nclass Agent:\n    def __init__(self):\n        self.state = None\n\n    def choose_option(self, options):\n        return random.choice(options)\n\n    def execute_option(self, option):\n        while not option.termination_condition(self.state):\n            action = option.policy(self.state)\n            self.state = take_action(action)\n\ndef take_action(action):\n    # Action taking logic here\n    return new_state\n\noptions = [\n    Option(\"MoveRight\", lambda state: state == \"goal\", lambda state: \"right\"),\n    Option(\"MoveLeft\", lambda state: state == \"goal\", lambda state: \"left\"),\n]\n\nagent = Agent()\nwhile not agent.state == \"goal\":\n    option = agent.choose_option(options)\n    agent.execute_option(option)\n<\/code>\n        <\/pre>\n<\/section>\n<section>\n<h2>3. Feudal RL<\/h2>\n<p>\n            Feudal RL\uc740 \uacc4\uce35\uc801 \uc815\ucc45 \uad6c\uc870\ub97c \uc0ac\uc6a9\ud558\uc5ec \ucd5c\uc0c1\uc704 \ub808\ubca8\uc5d0\uc11c \uc804\ubc18\uc801\uc778 \uc791\uc5c5\uc744 \uc815\uc758\ud558\uace0, \ud558\uc704 \ub808\ubca8\uc5d0\uc11c \uc774\ub97c \uc218\ud589\ud558\uae30 \uc704\ud55c \uc138\ubd80 \uc815\ucc45\uc744 \ud559\uc2b5\ud558\ub294 \uc811\uadfc \ubc29\uc2dd\uc785\ub2c8\ub2e4. \uc774 \uad6c\uc870\uc5d0\uc11c\ub294 \uc0c1\uc704 \uad00\ub9ac\uc790(manager)\uac00 \ud558\uc704 \uc9c1\ubb34(worker)\uc5d0 \ub300\ud55c \uc9c0\uc2dc\ub97c \ub0b4\ub9ac\ub294 \ud615\ud0dc\ub85c, \uac01 \ub808\ubca8\uc758 \uc5d0\uc774\uc804\ud2b8\ub4e4\uc774 \ub3c5\ub9bd\uc801\uc73c\ub85c \ud559\uc2b5\ud558\uace0 \uc791\uc5c5\uc744 \uc218\ud589\ud558\ub3c4\ub85d \uc124\uacc4\ub418\uc5b4 \uc788\uc2b5\ub2c8\ub2e4.\n        <\/p>\n<h3>3.1. Feudal RL\uc758 \ud2b9\uc9d5<\/h3>\n<p>\n            Feudal RL\uc758 \uc8fc\ub41c \ud2b9\uc9d5\uc740 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4:\n        <\/p>\n<ul>\n<li><strong>\uacc4\uce35 \uad6c\uc870:<\/strong> \uc791\uc5c5\uc744 \uad00\ub9ac\ud558\ub294 \uc0c1\uc704 \ub808\ubca8\uc758 \uc5d0\uc774\uc804\ud2b8\uc640 \uc138\ubd80 \uc791\uc5c5\uc744 \ucc98\ub9ac\ud558\ub294 \ud558\uc704 \ub808\ubca8\uc758 \uc5d0\uc774\uc804\ud2b8\ub85c \uad6c\uc131\ub429\ub2c8\ub2e4.<\/li>\n<li><strong>\uc758\uc0ac \uacb0\uc815:<\/strong> \uac01 \ub808\ubca8\uc758 \uc5d0\uc774\uc804\ud2b8\ub4e4\uc740 \uc790\uc2e0\uc774 \ucc98\ud55c \uc0c1\ud0dc\uc5d0 \ub530\ub77c \ub3c5\ub9bd\uc801\uc73c\ub85c \uacb0\uc815\uc744 \ub0b4\ub9bd\ub2c8\ub2e4.<\/li>\n<li><strong>\ud559\uc2b5\uc758 \ubd84\ub9ac:<\/strong> \uc0c1\uc704 \ub808\ubca8\uacfc \ud558\uc704 \ub808\ubca8\uc774 \ub3c5\ub9bd\uc801\uc73c\ub85c \ud559\uc2b5\ud560 \uc218 \uc788\uc5b4 \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \ud6a8\uc728\uc801\uc73c\ub85c \ud559\uc2b5\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n<h3>3.2. Feudal RL \uad6c\uc870<\/h3>\n<p>\n            Feudal RL\uc758 \uad6c\uc870\ub294 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4:\n        <\/p>\n<ul>\n<li><strong>\uc0c1\uc704 \uad00\ub9ac\uc790(manager):<\/strong> \ud558\uc704 \uc5d0\uc774\uc804\ud2b8\uc5d0\uac8c \ud560\ub2f9\ud560 \uc791\uc5c5\uc744 \uc815\uc758\ud569\ub2c8\ub2e4.<\/li>\n<li><strong>\ud558\uc704 \uc791\uc5c5\uc790(worker):<\/strong> \uc8fc\uc5b4\uc9c4 \uc791\uc5c5\uc744 \uc218\ud589\ud558\uae30 \uc704\ud574 \ud589\ub3d9\uc744 \uacb0\uc815\ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n<h3>3.3. Feudal RL \uad6c\ud604 \uc608\uc81c<\/h3>\n<p>\n            Feudal RL\uc744 \uac04\ub2e8\ud558\uac8c \uad6c\ud604\ud55c \uc608\uc81c\ub97c \uc544\ub798\uc5d0 \uc18c\uac1c\ud569\ub2c8\ub2e4. \uc774 \uc608\uc81c\ub294 \uad00\ub9ac\uc790\uc640 \uc791\uc5c5\uc790\uac00 \ub3c5\ub9bd\uc801\uc73c\ub85c \ud559\uc2b5\ud558\ub294 \uad6c\uc870\ub97c \ubcf4\uc5ec\uc90d\ub2c8\ub2e4.\n        <\/p>\n<pre>\n<code>\nclass Manager:\n    def __init__(self):\n        self.tasks = [\"fetch\", \"clean\"]\n\n    def assign_task(self):\n        return random.choice(self.tasks)\n\nclass Worker:\n    def execute_task(self, task):\n        if task == \"fetch\":\n            print(\"Fetching item...\")\n        elif task == \"clean\":\n            print(\"Cleaning area...\")\n\nmanager = Manager()\nworker = Worker()\n\nfor _ in range(5):\n    task = manager.assign_task()\n    worker.execute_task(task)\n<\/code>\n        <\/pre>\n<\/section>\n<section>\n<h2>4. \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5\uc758 \uc751\uc6a9<\/h2>\n<p>\n            \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5\uc740 \ub2e4\uc591\ud55c \ubd84\uc57c\uc5d0\uc11c \ud6a8\uacfc\uc801\uc73c\ub85c \ud65c\uc6a9\ub420 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ub85c\ubd07 \uacf5\ud559, \uc790\uc5f0\uc5b4 \ucc98\ub9ac, \uac8c\uc784 AI \ub4f1 \uc5ec\ub7ec \uc601\uc5ed\uc5d0\uc11c \uadf8 \uac00\ub2a5\uc131\uc744 \ubcf4\uc5ec\uc90d\ub2c8\ub2e4. \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \ud6a8\uc728\uc801\uc73c\ub85c \ud559\uc2b5\ud558\uae30 \uc704\ud55c HRL\uc758 \uc7a5\uc810\uc740 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4:\n        <\/p>\n<ul>\n<li><strong>\ube60\ub978 \ud559\uc2b5 \uc18d\ub3c4:<\/strong> \ud558\uc704 \uc815\ucc45\uc744 \ub3c5\ub9bd\uc801\uc73c\ub85c \ud559\uc2b5\ud558\ubbc0\ub85c \uc804\uccb4\uc801\uc778 \ud559\uc2b5\uc774 \uac00\uc18d\ud654\ub429\ub2c8\ub2e4.<\/li>\n<li><strong>\uc7ac\uc0ac\uc6a9\uc131:<\/strong> \ud55c\ubc88 \ud559\uc2b5\ud55c \ud558\uc704 \uc815\ucc45\uc740 \ub2e4\ub978 \uc791\uc5c5\uc5d0\uc11c\ub3c4 \uc7ac\uc0ac\uc6a9\ud560 \uc218 \uc788\uc5b4 \ud559\uc2b5 \ud6a8\uc728\uc131\uc774 \ub192\uc544\uc9d1\ub2c8\ub2e4.<\/li>\n<li><strong>\ubcf5\uc7a1\uc131 \ucc98\ub9ac:<\/strong> \ubcf5\uc7a1\ud55c \uc0c1\ud0dc \uacf5\uac04\uc744 \ud6a8\uacfc\uc801\uc73c\ub85c \ub2e4\ub8e8\uba70, \uc5d0\uc774\uc804\ud2b8\uac00 \ub354 \uace0\ucc28\uc6d0\uc801\uc778 \ud589\ub3d9\uc744 \uc218\ud589\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n<\/section>\n<section>\n<h2>5. \uacb0\ub860<\/h2>\n<p>\n            \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(HRL)\uc758 \uae30\ubcf8 \uac1c\ub150\uacfc \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c, Feudal RL\uc744 \ud1b5\ud574 \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \ud559\uc2b5\ud558\ub294 \ubc29\ubc95\ub860\uc744 \uc18c\uac1c\ud558\uc600\uc2b5\ub2c8\ub2e4. HRL\uc744 \ud65c\uc6a9\ud558\uba74 \uc804\ud1b5\uc801\uc778 \uac15\ud654\ud559\uc2b5\uc5d0\uc11c \ubc1c\uc0dd\ud558\ub294 \ud559\uc2b5\uc758 \ube44\ud6a8\uc728\uc131\uc744 \uc904\uc774\uace0, \ube60\ub974\uace0 \ud6a8\uc728\uc801\uc73c\ub85c \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \ud559\uc2b5\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ud5a5\ud6c4 \ub2e4\uc591\ud55c \uac15\ud654\ud559\uc2b5 \uc54c\uace0\ub9ac\uc998\uacfc HRL\uc758 \uc735\ud569\uc744 \ud1b5\ud574 \ub354\uc6b1 \ubc1c\uc804\ub41c \uc5d0\uc774\uc804\ud2b8\ub97c \uc124\uacc4\ud560 \uc218 \uc788\uc744 \uac83\uc73c\ub85c \uae30\ub300\ub429\ub2c8\ub2e4.\n        <\/p>\n<\/section>\n<\/article>\n","protected":false},"excerpt":{"rendered":"<p>\uac15\ud654\ud559\uc2b5(Reinforcement Learning, RL)\uc740 \uc5d0\uc774\uc804\ud2b8\uac00 \ud658\uacbd\uacfc \uc0c1\ud638\uc791\uc6a9\ud558\uba74\uc11c \ucd5c\uc801\uc758 \ud589\ub3d9(Policy)\uc744 \ud559\uc2b5\ud558\ub294 \ubc29\ubc95\ub860\uc73c\ub85c, \ucd5c\uadfc \ub2e4\uc591\ud55c \ubd84\uc57c\uc5d0\uc11c \uadf8 \uc7a0\uc7ac\ub825\uc744 \uc778\uc815\ubc1b\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ud558\uc9c0\ub9cc, \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \ud559\uc2b5\ud558\ub294 \uac83\uc740 \uc885\uc885 \ub9e4\uc6b0 \uc2dc\uac04\uc774 \uc624\ub798 \uac78\ub9ac\uba70, \ubc29\ub300\ud55c \uc0c1\ud0dc \uacf5\uac04\uc73c\ub85c \uc778\ud574 \ud6a8\uc728\uc801\uc778 \uc815\ucc45 \ud559\uc2b5\uc774 \uc5b4\ub824\uc6b8 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774 \ubb38\uc81c\ub97c \ud574\uacb0\ud558\uae30 \uc704\ud55c \uc811\uadfc \uc911 \ud558\ub098\uac00 \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(Hierarchical Reinforcement Learning, HRL)\uc785\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5\uc758 \uae30\ubcf8 \uac1c\ub150\uc744 &hellip; <a href=\"https:\/\/atmokpo.com\/w\/40398\/\" class=\"more-link\">\ub354 \ubcf4\uae30<span class=\"screen-reader-text\"> &#8220;20. \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(Hierarchical RL)\uc73c\ub85c \ubcf5\uc7a1\ud55c \ud589\ub3d9 \ud559\uc2b5\ud558\uae30, \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\uc640 Feudal RL \uc18c\uac1c&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[213],"tags":[],"class_list":["post-40398","post","type-post","status-publish","format-standard","hentry","category-213"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.2 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>20. \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(Hierarchical RL)\uc73c\ub85c \ubcf5\uc7a1\ud55c \ud589\ub3d9 \ud559\uc2b5\ud558\uae30, \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\uc640 Feudal RL \uc18c\uac1c - \ub77c\uc774\ube0c\uc2a4\ub9c8\ud2b8<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/atmokpo.com\/w\/40398\/\" \/>\n<meta property=\"og:locale\" content=\"ko_KR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"20. \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(Hierarchical RL)\uc73c\ub85c \ubcf5\uc7a1\ud55c \ud589\ub3d9 \ud559\uc2b5\ud558\uae30, \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\uc640 Feudal RL \uc18c\uac1c - \ub77c\uc774\ube0c\uc2a4\ub9c8\ud2b8\" \/>\n<meta property=\"og:description\" content=\"\uac15\ud654\ud559\uc2b5(Reinforcement Learning, RL)\uc740 \uc5d0\uc774\uc804\ud2b8\uac00 \ud658\uacbd\uacfc \uc0c1\ud638\uc791\uc6a9\ud558\uba74\uc11c \ucd5c\uc801\uc758 \ud589\ub3d9(Policy)\uc744 \ud559\uc2b5\ud558\ub294 \ubc29\ubc95\ub860\uc73c\ub85c, \ucd5c\uadfc \ub2e4\uc591\ud55c \ubd84\uc57c\uc5d0\uc11c \uadf8 \uc7a0\uc7ac\ub825\uc744 \uc778\uc815\ubc1b\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ud558\uc9c0\ub9cc, \ubcf5\uc7a1\ud55c \ud589\ub3d9\uc744 \ud559\uc2b5\ud558\ub294 \uac83\uc740 \uc885\uc885 \ub9e4\uc6b0 \uc2dc\uac04\uc774 \uc624\ub798 \uac78\ub9ac\uba70, \ubc29\ub300\ud55c \uc0c1\ud0dc \uacf5\uac04\uc73c\ub85c \uc778\ud574 \ud6a8\uc728\uc801\uc778 \uc815\ucc45 \ud559\uc2b5\uc774 \uc5b4\ub824\uc6b8 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774 \ubb38\uc81c\ub97c \ud574\uacb0\ud558\uae30 \uc704\ud55c \uc811\uadfc \uc911 \ud558\ub098\uac00 \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(Hierarchical Reinforcement Learning, HRL)\uc785\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5\uc758 \uae30\ubcf8 \uac1c\ub150\uc744 &hellip; \ub354 \ubcf4\uae30 &quot;20. \uacc4\uce35\uc801 \uac15\ud654\ud559\uc2b5(Hierarchical RL)\uc73c\ub85c \ubcf5\uc7a1\ud55c \ud589\ub3d9 \ud559\uc2b5\ud558\uae30, \uc635\uc158 \ud504\ub808\uc784\uc6cc\ud06c\uc640 Feudal RL \uc18c\uac1c&quot;\" \/>\n<meta property=\"og:url\" content=\"https:\/\/atmokpo.com\/w\/40398\/\" \/>\n<meta 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