Takuma best circuit racer build12/22/2023 ![]() The distance covered is measured along the track centerline. Progress: The agent is rewarded as it covers more distance in its decision cycle, 0.1s in this case (when operating at 10Hz). The objective function consists of four components: These are defined in a way where the agent can reason about the tradeoffs between them and avoid exploiting any potential loopholes, for example cutting corners to gain time. Driving well in Gran Turismo has multiple objectives, such as maximizing speed and adhering to the racing rules, which include avoiding barrier contact and staying on the track. In RL terminology, we refer to this as the agent’s reward function. Instead, we define a basic set of objectives and use a Reinforcement Learning (RL) algorithm so the agent can automatically learn a behavior that optimizes the lap time. It would be difficult to engineer the precise braking and steering points, as well as the driving lines to follow, in a complex dynamical domain such as Gran Turismo. What does GT Sophy prioritize?Once the agent is able to perceive the world around it, it needs to understand the elements of driving fast and the actions that lead to it. We partnered with Sony Interactive Entertainment and gained access to more than a thousand PlayStation consoles in the cloud. The car drifts through a series of left and right turns, using as much of the curb as possible while maintaining control with a minimal loss of speed. An example of the utility of these features is apparent in the latter half of the Dragon Trail Seaside track. When we combine features that help the agent localize itself on the track with car-related information (tire load, tire slip), the agent is able to execute precise maneuvers to optimally navigate a variety of turns. This is similar to how experienced drivers memorize the track layout through numerous hours of practice and learn to optimize the trajectory of the car. The agent uses these points to orient itself with respect to the left, center, and right track lines and find the best path through a sequence of curves. When the car approaches a hairpin turn, you can see the points collapse as the vehicle slows down and the view ahead decreases. The faster the agent, the farther it can see the slower it is, the shorter the range of points it takes into account. The distance ahead is calculated based on the speed of the car. The agent sees the course ahead as a series of discrete points, up to six seconds from its current position. Right: GT Sophy navigates the stretch of track depicted on the map. When GT Sophy nears the hairpin turn, it slows down-and its view decreases. Left: The magenta dots represent the agent’s view of the track. From interactions with the game developers at Polyphony Digital and a former top Gran Turismo racer, as well as from internal team tests, we captured a set of relevant features, including vehicle velocity, acceleration, orientation, load on the tires, and whether the vehicle is off the track. How does GT Sophy see the world?In training an agent to drive fast in Gran Turismo, it is important to understand which attributes of the game are relevant to achieving this goal. This post offers an inside look at the pivotal steps for developing an agent capable of record-breaking lap times. Achieving that blend of speed and control was one of the first steps in creating an agent that could beat the world’s best Gran Turismo drivers. And we had to ensure that GT Sophy could apply those capabilities while racing different cars on various tracks. When we built AI agent GT Sophy, we needed to train it to master those skills within the world of the PlayStation game Gran Turismo, just as a human driver would. ![]() Incredible speed and near-perfect control are two elements any driver needs to win a racing event. This series explores the technical accomplishments that made GT Sophy possible, pointing the way to future AI technologies capable of making continuous real-time decisions and embodying subjective concepts like sportsmanship. In 2021, we succeeded with Gran Turismo Sophy (GT Sophy). Starting in 2020, the research and engineering team at Sony AI set out to do something that had never been done before: create an AI agent that could beat the best drivers in the world at the PlayStation® 4 game Gran Turismo™ Sport, the real driving simulator developed by Polyphony Digital.
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