diff --git a/docs/en/week10/10-3.md b/docs/en/week10/10-3.md index f749b83fc..7c290e3ff 100644 --- a/docs/en/week10/10-3.md +++ b/docs/en/week10/10-3.md @@ -163,10 +163,10 @@ Here we use MSE to calculate the loss between the true next state and the next s ### Controller -Refer to Figure 5. Block $\matr{C}$ represents the controller. It takes in the current state and ouputs a steering angle. Then block $\matr{T}$ (emulator) takes both the state and angle to produce the next state. +Refer to Figure 6. Block $\matr{C}$ represents the controller. It takes in the current state and ouputs a steering angle. Then block $\matr{T}$ (emulator) takes both the state and angle to produce the next state. |![]({{site.baseurl}}/images/week10/10-3/fig13.png)| -|
Fig. 5: State Transition flow diagram
| +|
Fig. 6: State Transition flow diagram
| To train the controller, we start from a random initial state and repeat the procedure($\matr{C}$ and $\matr{T}$) until the trailer is parallel to the dock. The error is calculated by comparing the trailer location and dock location. We then find the gradients using backpropagation and update parameters of the controller via SGD. @@ -177,6 +177,7 @@ We then find the gradients using backpropagation and update parameters of the co This is a detailed graph of ($\matr{C}$, $\matr{T}$) process. We start with a state (6 dimension vector), multiply it with a tunable weights matrix and get 25 hidden units. Then we pass it through another tunable weights vector to get the output (steering signal). Similarly, we input the state and angle $\phi$ (7 dimension vector) through two layers to produce the state of next step. ![]({{site.baseurl}}/images/week10/10-3/fig14.png) +|
Fig. 7: Details of emulator and controller
| To see this more clearly, we show the exact implementation of the emulator: @@ -202,7 +203,7 @@ Following are four examples of movement for different initial state. Notice that |![]({{site.baseurl}}/images/week10/10-3/fig16.png) | ![]({{site.baseurl}}/images/week10/10-3/fig17.png) | |![]({{site.baseurl}}/images/week10/10-3/fig18.png) | ![]({{site.baseurl}}/images/week10/10-3/fig19.png) | -|
Fig. 7: Examples of movement for four different initial states
| +|
Fig. 8: Examples of movement for four different initial states
| ### Additional Resources: diff --git a/docs/es/week10/10-3.md b/docs/es/week10/10-3.md index f78754b60..b391e0170 100644 --- a/docs/es/week10/10-3.md +++ b/docs/es/week10/10-3.md @@ -309,15 +309,15 @@ Aquí usamos MSE (error cuadrático medio) para calcular la pérdida entre el si --> ### Controlador - -En la figura 5, el bloque $\matr{C}$ representa el controlador. Toma como entrada el estado actual y tiene como salida un ángulo de dirección. Posteriormente, el bloque $\matr{T}$ (emulador) toma el estado y el ángulo para producir el siguiente estado. +En la figura 6, el bloque $\matr{C}$ representa el controlador. Toma como entrada el estado actual y tiene como salida un ángulo de dirección. Posteriormente, el bloque $\matr{T}$ (emulador) toma el estado y el ángulo para producir el siguiente estado. |![]({{site.baseurl}}/images/week10/10-3/fig13.png)| -|
Fig. 5: Diagrama de flujo de la transición de estado
| +|
Fig. 6: Diagrama de flujo de la transición de estado
| @@ -367,7 +368,7 @@ A continuación hay cuatro ejemplos de movimiento para diferentes estados incial |![]({{site.baseurl}}/images/week10/10-3/fig16.png) | ![]({{site.baseurl}}/images/week10/10-3/fig17.png) | |![]({{site.baseurl}}/images/week10/10-3/fig18.png) | ![]({{site.baseurl}}/images/week10/10-3/fig19.png) | - +|
Fig. 8: Ejemplos de movimiento de cuatro estados iniciales diferentes
| @@ -377,4 +378,4 @@ A continuación hay cuatro ejemplos de movimiento para diferentes estados incial Please check out the code as well, which can be found at [https://github.com/Tifu/truck_backer_upper](https://github.com/Tifu/truck_backer_upper). --> Puedes encontrar un *demo* completamente funcional en: [https://tifu.github.io/truck_backer_upper/](https://tifu.github.io/truck_backer_upper/). -También revisa el código; el cual puede encontrarse en: [https://github.com/Tifu/truck_backer_upper](https://github.com/Tifu/truck_backer_upper). \ No newline at end of file +También revisa el código; el cual puede encontrarse en: [https://github.com/Tifu/truck_backer_upper](https://github.com/Tifu/truck_backer_upper). diff --git a/docs/images/week10/10-3/fig14.png b/docs/images/week10/10-3/fig14.png index 086c30587..d08423179 100644 Binary files a/docs/images/week10/10-3/fig14.png and b/docs/images/week10/10-3/fig14.png differ