{"id":40424,"date":"2024-11-04T01:51:38","date_gmt":"2024-11-04T01:51:38","guid":{"rendered":"https:\/\/atmokpo.com\/w\/?p=40424"},"modified":"2024-11-26T06:39:13","modified_gmt":"2024-11-26T06:39:13","slug":"42-%ed%99%98%ea%b2%bd-%ed%99%95%ec%9e%a5-%eb%b0%8f-%ec%a0%84%ec%9d%b4-%ed%95%99%ec%8a%b5-%ec%a0%81%ec%9a%a9-%ec%82%ac%eb%a1%80-%ec%a0%84%ec%9d%b4-%ed%95%99%ec%8a%b5%ec%9d%84-%ed%86%b5%ed%95%b4","status":"publish","type":"post","link":"https:\/\/atmokpo.com\/w\/40424\/","title":{"rendered":"42. \ud658\uacbd \ud655\uc7a5 \ubc0f \uc804\uc774 \ud559\uc2b5 \uc801\uc6a9 \uc0ac\ub840, \uc804\uc774 \ud559\uc2b5\uc744 \ud1b5\ud574 \ud655\uc7a5\ub41c \ud658\uacbd\uc5d0\uc11c \uc5d0\uc774\uc804\ud2b8 \uc7ac\ud559\uc2b5\ud558\uae30"},"content":{"rendered":"<h2>42. \ud658\uacbd \ud655\uc7a5 \ubc0f \uc804\uc774 \ud559\uc2b5 \uc801\uc6a9 \uc0ac\ub840<\/h2>\n<p>\uac15\ud654\ud559\uc2b5(Reinforcement Learning, RL)\uc740 \uc5d0\uc774\uc804\ud2b8\uac00 \ud658\uacbd\uacfc \uc0c1\ud638\uc791\uc6a9\ud558\uba74\uc11c \ubcf4\uc0c1\uc744 \ucd5c\ub300\ud654\ud558\ub294 \ud589\ub3d9\uc744 \ud559\uc2b5\ud558\ub294 \ubc29\ubc95\uc785\ub2c8\ub2e4. \uc77c\ubc18\uc801\uc73c\ub85c \uc5d0\uc774\uc804\ud2b8\ub294 \ud2b9\uc815 \ud658\uacbd\uc5d0\uc11c \ud6c8\ub828\ubc1b\uc73c\uba70, \uc774 \uacfc\uc815\uc5d0\uc11c \ub2e4\uc591\ud55c \uc815\ucc45\uc744 \ud559\uc2b5\ud558\uac8c \ub429\ub2c8\ub2e4. \uadf8\ub7ec\ub098 \uc2e4\uc81c \uc138\uacc4\uc5d0\uc11c\ub294 \uc5d0\uc774\uc804\ud2b8\uac00 \ub2e8\uc77c \ud658\uacbd\uc5d0\uc11c\ub9cc \ud559\uc2b5\ud558\ub294 \uac83\uc774 \uc544\ub2c8\ub77c, \uc5ec\ub7ec \ud658\uacbd\uc5d0\uc11c\uc758 \uacbd\ud5d8\uc744 \ud1b5\ud574 \ud6a8\uacfc\uc801\uc73c\ub85c \uc804\uc774(Transfer)\ud558\ub294 \ub2a5\ub825\uc774 \ud544\uc694\ud569\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 \uac15\ud654\ud559\uc2b5 \uc5d0\uc774\uc804\ud2b8\ub97c \ub2e4\uc591\ud55c \ud658\uacbd\uc73c\ub85c \ud655\uc7a5\ud558\uace0, \uc774\ub97c \ud1b5\ud574 \uc804\uc774 \ud559\uc2b5\uc744 \uc801\uc6a9\ud558\ub294 \uc0ac\ub840\ub97c \uc124\uba85\ud569\ub2c8\ub2e4.<\/p>\n<h3>\uc804\uc774 \ud559\uc2b5\uc774\ub780?<\/h3>\n<p>\uc804\uc774 \ud559\uc2b5\uc740 \ud55c \uacfc\uc81c\uc5d0\uc11c \ud559\uc2b5\ud55c \uc9c0\uc2dd\uc774\ub098 \uae30\uc220\uc744 \ub2e4\ub978 \uacfc\uc81c\uc5d0 \uc801\uc6a9\ud558\ub294 \uacfc\uc815\uc785\ub2c8\ub2e4. \uacfc\uac70\uc758 \uacbd\ud5d8\uc744 \ud65c\uc6a9\ud558\uc5ec \uc0c8\ub85c\uc6b4 \uc0c1\ud669\uc5d0\uc11c\ub3c4 \ube60\ub974\uac8c \uc801\uc751\ud560 \uc218 \uc788\uc73c\uba70, \uc774\ub85c \uc778\ud574 \ud559\uc2b5\uc758 \ud6a8\uc728\uc131\uc774 \ud06c\uac8c \ud5a5\uc0c1\ub429\ub2c8\ub2e4. \uac15\ud654\ud559\uc2b5\uc5d0\uc11c \uc804\uc774 \ud559\uc2b5\uc740 \ubcf4\ud1b5 \ub450 \uac00\uc9c0 \ud615\ud0dc\ub85c \ub098\ub269\ub2c8\ub2e4:<\/p>\n<ul>\n<li><strong>\uad6c\uc870\uc801 \uc804\uc774(Structural Transfer):<\/strong> \uae30\uc874\uc758 \ud559\uc2b5\ub41c \ubaa8\ub378\uc774\ub098 \uc815\ucc45\uc744 \uc0c8\ub85c\uc6b4 \ud658\uacbd\uc5d0 \ub9de\uac8c \uc7ac\uad6c\uc131\ud558\uc5ec \uc0ac\uc6a9\ud558\ub294 \ubc29\ubc95\uc785\ub2c8\ub2e4.<\/li>\n<li><strong>\ud30c\ub77c\ubbf8\ud130 \uc804\uc774(Parameter Transfer):<\/strong> \uae30\uc874 \ud658\uacbd\uc5d0\uc11c \ud559\uc2b5\ud55c \ud30c\ub77c\ubbf8\ud130\ub97c \uc0c8\ub85c\uc6b4 \ud658\uacbd\uc5d0\uc11c\ub3c4 \ucd08\uae30\uac12\uc73c\ub85c \uc124\uc815\ud558\uc5ec \ud559\uc2b5\uc758 \ucd9c\ubc1c\uc810\uc744 \uac1c\uc120\ud558\ub294 \ubc29\ubc95\uc785\ub2c8\ub2e4.<\/li>\n<\/ul>\n<h3>\ud658\uacbd \ud655\uc7a5\uc774\ub780?<\/h3>\n<p>\ud658\uacbd \ud655\uc7a5\uc740 \uae30\uc874\uc758 \ud658\uacbd\uc744 \uae30\ubc18\uc73c\ub85c \uc0c8\ub85c\uc6b4 \uc0c1\ud0dc \ub610\ub294 \ud589\ub3d9 \uacf5\uac04\uc744 \ucd94\uac00\ud558\ub294 \uacfc\uc815\uc785\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4, \ub85c\ubd07\uc774 \ud2b9\uc815 \uacbd\ub85c\ub97c \ud559\uc2b5\ud55c \ud6c4, \uac19\uc740 \uacbd\ub85c\uc5d0 \uc7a5\uc560\ubb3c\uc774 \ucd94\uac00\ub418\ub294 \ud615\ud0dc\uac00 \uc788\uc744 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774 \uacbd\uc6b0, \uc5d0\uc774\uc804\ud2b8\ub294 \uc0c8\ub85c\uc6b4 \uc7a5\uc560\ubb3c\uc744 \ud68c\ud53c\ud558\ub294 \ubc29\ubc95\uc744 \ud559\uc2b5\ud574\uc57c \ud558\uba70, \uc774\ub294 \uae30\uc874\uc758 \uacbd\ud5d8\uc744 \ud65c\uc6a9\ud574 \ud559\uc2b5 \uacfc\uc815\uc744 \uac00\uc18d\ud654\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n<h3>\uc804\uc774 \ud559\uc2b5 \uc801\uc6a9 \uc0ac\ub840<\/h3>\n<h4>\uc0ac\ub840 1: \ub85c\ubd07 \uc870\uc791(Manipulator Robot)<\/h4>\n<p>\ub85c\ubd07 \uc870\uc791 \ubb38\uc81c\ub294 \uac15\ud654\ud559\uc2b5\uc5d0\uc11c \uc790\uc8fc \ub2e4\ub8e8\uc5b4\uc9c0\ub294 \uc8fc\uc81c\uc785\ub2c8\ub2e4. \ub85c\ubd07\uc774 \ud2b9\uc815 \uc791\uc5c5\uc744 \uc644\ub8cc\ud558\ub294 \ubc29\ubc95\uc744 \ud559\uc2b5\ud55c \ud6c4, \uc0c8\ub85c\uc6b4 \ud658\uacbd\uc5d0\uc11c \uc774\ub97c \uc7ac\ud559\uc2b5\ud558\ub294 \uacfc\uc815\uc5d0\uc11c \uc804\uc774 \ud559\uc2b5\uc744 \uc0ac\uc6a9\ud574 \ubcf4\uaca0\uc2b5\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4, \ub85c\ubd07\uc774 \ud2b9\uc815 \ubb3c\uccb4\ub97c \uc9d1\ub294 \uc791\uc5c5\uc744 \uc218\ud589\ud588\ub2e4\uace0 \uac00\uc815\ud574 \ubcf4\uaca0\uc2b5\ub2c8\ub2e4.<\/p>\n<h5>\uae30\uc874 \ud658\uacbd \uc124\uc815<\/h5>\n<pre>\n<code>import gym\nimport numpy as np\n\n# \uae30\ubcf8 \ud658\uacbd \uc0dd\uc131\nenv = gym.make('FetchPickAndPlace-v1')\n\n# \ud558\uc774\ud37c\ud30c\ub77c\ubbf8\ud130 \uc124\uc815\nnum_episodes = 1000\nlearning_rate = 0.01\ndiscount_factor = 0.99\n\n# Q-\ud14c\uc774\ube14 \ucd08\uae30\ud654\nQ_table = np.zeros((env.observation_space.shape[0], env.action_space.n))\n\n# \uc5d0\uc774\uc804\ud2b8 \ud559\uc2b5 \ud568\uc218\ndef train_agent():\n    for episode in range(num_episodes):\n        state = env.reset()\n        done = False\n        while not done:\n            action = np.argmax(Q_table[state])  # \ucd5c\ub300 Q\uac12 \ud589\ub3d9 \uc120\ud0dd\n            next_state, reward, done, _ = env.step(action)\n            Q_table[state, action] += learning_rate * (reward + discount_factor * np.max(Q_table[next_state]) - Q_table[state, action])\n            state = next_state\n<\/code>\n<\/pre>\n<h5>\ud658\uacbd \ud655\uc7a5 \ubc0f \uc804\uc774 \ud559\uc2b5<\/h5>\n<p>\ub85c\ubd07\uc774 \ud2b9\uc815 \uc704\uce58\uc5d0\uc11c \ubb3c\uccb4\ub97c \uc9d1\ub294 \uc791\uc5c5\uc744 \ud559\uc2b5\ud55c \ud6c4, \uc0c8\ub85c\uc6b4 \ud658\uacbd\uc5d0\uc11c\ub294 \ubb3c\uccb4\uc758 \uc704\uce58\ub97c \ubcc0\uacbd\ud558\uac70\ub098 \ubb3c\uccb4\uc758 \ud615\ud0dc\ub97c \ub2e4\ub974\uac8c \uc124\uc815\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ub7ec\ud55c \uacbd\uc6b0 \ub85c\ubd07\uc758 \uae30\uc874 \uc9c0\uc2dd\uc744 \ud65c\uc6a9\ud558\uc5ec \uc0c8\ub85c\uc6b4 \uc704\uce58\uc640 \ud658\uacbd\uc5d0\uc11c \uc7ac\ud559\uc2b5\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n<pre>\n<code># \uc0c8\ub85c\uc6b4 \ud658\uacbd\uc73c\ub85c \ubcc0\uacbd\nenv = gym.make('FetchPickAndPlace-v2')  # \uc0c8\ub85c\uc6b4 \ubc84\uc804\uc758 \ud658\uacbd\n\n# \uc804\uc774 \ud559\uc2b5 \uc801\uc6a9\ndef transfer_learning():\n    for episode in range(num_episodes):\n        state = env.reset()\n        done = False\n        while not done:\n            action = np.argmax(Q_table[state])  # \uae30\uc874 \ubaa8\ub378 \uc0ac\uc6a9\n            next_state, reward, done, _ = env.step(action)\n            Q_table[state, action] += learning_rate * (reward + discount_factor * np.max(Q_table[next_state]) - Q_table[state, action])\n            state = next_state\n\ntransfer_learning()\n<\/code>\n<\/pre>\n<h4>\uc0ac\ub840 2: \uac8c\uc784 \ud658\uacbd\uc5d0\uc11c\uc758 \uc804\uc774 \ud559\uc2b5<\/h4>\n<p>\uac8c\uc784 \ud658\uacbd\uc5d0\uc11c \uc804\uc774 \ud559\uc2b5\uc744 \uc801\uc6a9\ud560 \uc218\ub3c4 \uc788\uc2b5\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4, \uac19\uc740 \uac8c\uc784\uc758 \ub2e4\ub978 \ub808\ubca8\uc5d0\uc11c \uc5d0\uc774\uc804\ud2b8\uac00 \uc774\uc804 \ub808\ubca8\uc758 \uacbd\ud5d8\uc744 \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ub97c \ud1b5\ud574 \ub808\ubca8 \uac04\uc758 \uc720\uc0ac\uc131\uc744 \uc774\uc6a9\ud558\uc5ec \ud559\uc2b5 \ud6a8\uc728\uc744 \ub192\uc77c \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n<h5>\uae30\uc874 \ub808\ubca8 \ud559\uc2b5<\/h5>\n<pre>\n<code>import random\n\n# \uac8c\uc784 \ud658\uacbd \uc124\uc815\nclass GameEnv:\n    def reset(self):\n        # \ucd08\uae30 \uc0c1\ud0dc \ubc18\ud658\n        pass\n\n    def step(self, action):\n        # \ud589\ub3d9\uc5d0 \ub530\ub978 \ub2e4\uc74c \uc0c1\ud0dc \ubc18\ud658\n        return next_state, reward, done\n\n# \uae30\uc874 \ub808\ubca8\uc5d0\uc11c\uc758 Q-learning\ngame_env = GameEnv()\nQ_table = np.zeros((state_space_size, action_space_size))\n\ndef train_game_agent():\n    for episode in range(num_episodes):\n        state = game_env.reset()\n        done = False\n        while not done:\n            action = np.argmax(Q_table[state])\n            next_state, reward, done = game_env.step(action)\n            Q_table[state, action] += learning_rate * (reward + discount_factor * np.max(Q_table[next_state]) - Q_table[state, action])\n            state = next_state\n\ntrain_game_agent()\n<\/code>\n<\/pre>\n<h5>\uc0c8\ub85c\uc6b4 \ub808\ubca8\ub85c\uc758 \uc804\uc774 \ud559\uc2b5<\/h5>\n<p>\uae30\uc874 \ub808\ubca8\uc5d0\uc11c \ud559\uc2b5\ud55c Q \uac12\ub4e4\uc744 \uc0c8\ub85c\uc6b4 \ub808\ubca8\uc5d0\uc11c \ucd08\uae30\uac12\uc73c\ub85c \uc124\uc815\ud558\uc5ec \ud559\uc2b5\uc744 \uc2dc\uc791\ud569\ub2c8\ub2e4. \uc774\ub97c \ud1b5\ud574 \ucd08\uae30 \ud559\uc2b5 \ub2e8\uacc4\ub97c \ub2e8\ucd95\uc2dc\ud0ac \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n<pre>\n<code# #=\"\" (reward=\"\" *=\"\" +=\"\" -=\"\" <=\"\" action=\"np.argmax(Q_table_new[state])\" action]=\"\" action])=\"\" class=\"\" code=\"\" def=\"\" discount_factor=\"\" done=\"new_game_env.step(action)\" done:=\"\" episode=\"\" for=\"\" in=\"\" new_game_env=\"NewLevelEnv()\" newlevelenv(gameenv):=\"\" next_state,=\"\" not=\"\" np.max(q_table_new[next_state])=\"\" pass=\"\" q_table=\"\" q_table_new=\"Q_table.copy()\" q_table_new[state,=\"\" range(num_episodes):=\"\" reset(self):=\"\" reward,=\"\" state=\"next_state\" transfer_to_new_level()=\"\" transfer_to_new_level():=\"\" while=\"\" \uae30\uc874=\"\" \ub808\ubca8=\"\" \ub808\ubca8\ub85c=\"\" \ubc18\ud658=\"\" \ubcf5\uc0ac=\"\" \uc0c1\ud0dc=\"\" \uc0c8\ub85c\uc6b4=\"\" \uc7ac\ud65c\uc6a9=\"\" \uc804\uc774=\"\" \ucd08\uae30=\"\" \ud559\uc2b5=\"\" \ud559\uc2b5\uc744=\"\">\n<\/code#><\/pre>\n<h4>\uacb0\ub860<\/h4>\n<p>\uac15\ud654\ud559\uc2b5\uc5d0\uc11c \ud658\uacbd \ud655\uc7a5 \ubc0f \uc804\uc774 \ud559\uc2b5\uc740 \uc5d0\uc774\uc804\ud2b8\uc758 \ud559\uc2b5 \uacfc\uc815\uc744 \ub354\uc6b1 \ud6a8\uc728\uc801\uc774\uace0 \uac15\ub825\ud558\uac8c \ub9cc\ub4e4\uc5b4 \uc90d\ub2c8\ub2e4. \ud2b9\uc815 \ud658\uacbd\uc5d0\uc11c \ubc1b\uc740 \uacbd\ud5d8\uc744 \ubc14\ud0d5\uc73c\ub85c \uc0c8\ub85c\uc6b4 \ud658\uacbd\uc5d0\uc11c \ube60\ub974\uac8c \uc801\uc751\ud560 \uc218 \uc788\ub294 \ub2a5\ub825\uc740 \uac15\ud654\ud559\uc2b5\uc758 \ud575\uc2ec\uc801\uc778 \ubd80\ubd84 \uc911 \ud558\ub098\uc785\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c \uc18c\uac1c\ud55c \uc0ac\ub840\ub4e4\uc744 \ud1b5\ud574, \ub3c5\uc790\ub4e4\uc740 \uac15\ud654\ud559\uc2b5\uc758 \uc804\uc774 \ud559\uc2b5 \uc6d0\ub9ac\ub97c \uc774\ud574\ud558\uace0, \uc774\ub97c \uc2e4\uc81c \ud504\ub85c\uc81d\ud2b8\uc5d0 \uc801\uc6a9\ud560 \uc218 \uc788\ub294 \uae30\ubc18\uc744 \uc313\uc744 \uc218 \uc788\uc744 \uac83\uc785\ub2c8\ub2e4. \uc55e\uc73c\ub85c \ub354 \ub2e4\uc591\ud55c \ud658\uacbd\uacfc \uc0c1\ud669\uc5d0\uc11c \uc804\uc774 \ud559\uc2b5\uc744 \ud65c\uc6a9\ud558\uc5ec \uc5d0\uc774\uc804\ud2b8\ub97c \ud6a8\uacfc\uc801\uc73c\ub85c \ud559\uc2b5\uc2dc\ud0a4\ub294 \ubc29\ubc95\uc744 \uace0\ubbfc\ud574 \ubcf4\uc2dc\uae30 \ubc14\ub78d\ub2c8\ub2e4.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>42. \ud658\uacbd \ud655\uc7a5 \ubc0f \uc804\uc774 \ud559\uc2b5 \uc801\uc6a9 \uc0ac\ub840 \uac15\ud654\ud559\uc2b5(Reinforcement Learning, RL)\uc740 \uc5d0\uc774\uc804\ud2b8\uac00 \ud658\uacbd\uacfc \uc0c1\ud638\uc791\uc6a9\ud558\uba74\uc11c \ubcf4\uc0c1\uc744 \ucd5c\ub300\ud654\ud558\ub294 \ud589\ub3d9\uc744 \ud559\uc2b5\ud558\ub294 \ubc29\ubc95\uc785\ub2c8\ub2e4. \uc77c\ubc18\uc801\uc73c\ub85c \uc5d0\uc774\uc804\ud2b8\ub294 \ud2b9\uc815 \ud658\uacbd\uc5d0\uc11c \ud6c8\ub828\ubc1b\uc73c\uba70, \uc774 \uacfc\uc815\uc5d0\uc11c \ub2e4\uc591\ud55c \uc815\ucc45\uc744 \ud559\uc2b5\ud558\uac8c \ub429\ub2c8\ub2e4. \uadf8\ub7ec\ub098 \uc2e4\uc81c \uc138\uacc4\uc5d0\uc11c\ub294 \uc5d0\uc774\uc804\ud2b8\uac00 \ub2e8\uc77c \ud658\uacbd\uc5d0\uc11c\ub9cc \ud559\uc2b5\ud558\ub294 \uac83\uc774 \uc544\ub2c8\ub77c, \uc5ec\ub7ec \ud658\uacbd\uc5d0\uc11c\uc758 \uacbd\ud5d8\uc744 \ud1b5\ud574 \ud6a8\uacfc\uc801\uc73c\ub85c \uc804\uc774(Transfer)\ud558\ub294 \ub2a5\ub825\uc774 \ud544\uc694\ud569\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 \uac15\ud654\ud559\uc2b5 \uc5d0\uc774\uc804\ud2b8\ub97c \ub2e4\uc591\ud55c \ud658\uacbd\uc73c\ub85c \ud655\uc7a5\ud558\uace0, \uc774\ub97c &hellip; <a href=\"https:\/\/atmokpo.com\/w\/40424\/\" class=\"more-link\">\ub354 \ubcf4\uae30<span class=\"screen-reader-text\"> &#8220;42. \ud658\uacbd \ud655\uc7a5 \ubc0f \uc804\uc774 \ud559\uc2b5 \uc801\uc6a9 \uc0ac\ub840, \uc804\uc774 \ud559\uc2b5\uc744 \ud1b5\ud574 \ud655\uc7a5\ub41c \ud658\uacbd\uc5d0\uc11c \uc5d0\uc774\uc804\ud2b8 \uc7ac\ud559\uc2b5\ud558\uae30&#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-40424","post","type-post","status-publish","format-standard","hentry","category-213"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.2 - 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