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2020-AWS-Networking-DeepRacer-Cup

AWS Networking Organisation Internal DeepRacer Cup 2020

Training Logs

Training model Car reward function Gradient descent batch size Number of epochs Learning rate Entropy Discount factor Loss type
v1-0 Bennyhwa1 centre_line 512 10 0.0003 0.01 0.999 Huber
v1-1 Bennyhwa1 inside_lane_fast 512 10 0.0003 0.01 0.999 Huber
v1-2 Bennyhwa1 centre_line 256 10 0.0001 0.01 0.999 MSE
v1-3 Bennyhwa1 inside_lane_fast 512 10 0.0001 0.01 0.999 MSE
v1-4 Bennyhwa1 inside_lane_safety 512 10 0.0001 0.01 0.999 Huber
v1-5 Bennyhwa1 fast_straight_line 512 10 0.0008 0.01 0.999 Huber
v1-5-1 Bennyhwa1 inside_lane_faster 512 10 0.0001 0.01 0.999 MSE
v2-0 Bennyhwa1 deep_racer_evaluate 512 10 0.0003 0.01 0.999 Huber
v2-1 Bennyhwa1 deep_racer_evaluate 512 10 0.0003 0.01 0.999 Huber
v1-6 Bennyhwa1 deep_racer_evaluate 256 10 0.0001 0.01 0.999 Huber
v2-2 Bennyhwa1 centre_line 512 10 0.0003 0.01 0.999 Huber
v1-5-2 Bennyhwa1 inside_lane_safety 512 10 0.00002 0.01 0.999 MSE
v1-5-3 Bennyhwa1 inside_lane_fast 256 10 0.00002 0.01 0.999 Huber
v2-3-2 Bennyhwa1 inside_lane_fast 512 10 0.001 0.01 0.999 Huber

Submission record

v1-3: 15.8s with 3 off-track.
v1-4: 12.402s with 0 off-track (2nd submission one was 13.364s with 1 off-track, 1st submission was 13.5 with 1 off track, for some reason it just didn't go off track and time improved)

Evaluation Result

v1-3:
1 00:00:13.056 100% Lap complete
2 00:00:12.508 100% Lap complete
3 00:00:12.360 100% Lap complete

v1-4:
1 00:00:12.474 100% Lap complete
2 00:00:12.784 100% Lap complete
3 00:00:13.225 100% Lap complete

v1-5:
1 00:00:12.971 100% Lap complete
2 00:00:13.434 100% Lap complete
3 00:00:13.324 100% Lap complete

v1-5-1: 1 00:00:01.306 2% Off track
2 00:00:13.252 100% Lap complete
3 00:00:12.946 100% Lap complete

v-1-5-2
1 00:00:01.434 3% Off track
2 00:00:12.929 100% Lap complete
3 00:00:12.822 100% Lap complete

v2-0:
1 00:00:06.533 50% Off track
2 00:00:07.065 54% Off track
3 00:00:12.401 100% Lap complete

v1-6:
1 00:00:12.931 100% Lap complete
2 00:00:13.646 100% Lap complete
3 00:00:13.025 100% Lap complete

v2-1:
1 00:00:01.240 1% Off track 2 00:00:12.328 100% Lap complete 3 00:00:05.561 37% Off track

v2-2
1 00:00:01.527 3% Off track
2 00:00:05.155 35% Off track
3 00:00:05.343 35% Off track

Car Details

The Original DeepRacer

Sensor(s): Camera.
Neural network topology: 3 Layer CNN.
Action space:

  • Speed: 1 m/s
  • Steering angle: 30°

BennyHwa1

Sensor(s): Camera.
Neural network topology: 3 Layer CNN.
Action space:

  • Speed: 4 m/s
  • Steering angle: 30°