By using AWS re:Post, you agree to the Terms of Use
/What is good Action Space and Hyperparameter for Kumo Torakku track?/

What is good Action Space and Hyperparameter for Kumo Torakku track?


I've created a model for Kumo Torakku track and got 26 seconds lap time.
Actually the model was cloned from others. (Straight Track -> Oval Track -> London Loop).

Repetition of training does not reduce lap time.

I used hyperparameter as default and changed the Maximum speed to 5 in Action Space.
(Others are as default. Steering 30, Steering angle granularity 5, Speed granularity 2)

Since I'm familiar with coding, I tried multiple things with reward_function.
i.e. distance from center, all wheels on track, steering threshold, speed penalty etc.

As I said, there is no improvement at all with this configuration for Kumo Torakku.

So I will create new Model.

Anybody recommend any Action Space configuration for Kumo Torakku to get better results please?

Maximum steering angle :
Steering angle granualrity :
Maximum speed :
Speed granuality :

I have read documents for Hyperparameters but no idea what those are. ;(

Anybody can recommend good Hyperparameters configuration for Kumo Torakku please?

asked 3 years ago0 views
8 Answers

Hi Changsoo

Hyperparameters directly impact how the model is updated, they control the settings of the optimization algorithm that is used to "solve" for the model that gives the maximum expected cumulative return. Changing hyperparameters can improve the convergence of the model, or worsen it. For example, if you increase the learning rate, the weights in your neural network will update with larger increments. The model may improve (train) faster but the risk is that you miss the optimal solution, or the model never converges as updates are too large. Finding good hyperparameters often required trying a number of different combinations and then evaluating the performance of the model vs time spent training or some other metric. For example, I am busy training a 3m/s model (with 2 speed granularity) using a learning race of 0.001 and a low number of epochs. I can see during training at around 90 minutes my model is starting to do a lap now and then. If the learning rate was smaller, it would probably take longer for my model to complete a lap.

Note that at 3m/s my model will not be as fast as a converged 5m/s (or faster) model, but those will take a long time to converge. We increased the training speed in the console to a max of 8 m/s. Training at speeds faster than 8m/s tends to send the model spinning off the track.

Kind regards
De Clercq

answered 3 years ago

Hi Changsoo

I did the following tests overnight to show impact of hyperparameters

Trained 4 models on the Kumo Torakku training, each for 180 minutes, using my own reward function that does some center line following, scales reward for driving fast etc.
I alternated

Model 1: 3 m/s 2 speed granularity with learning rate = 0.001 and epochs = 3
Model 2: 3 m/s 2 speed granularity with default hyperparameters

Model 3: 5 m/s 2 speed granularity with learning rate = 0.001 and epochs = 3
Model 4: 5 m/s 2 speed granularity with default hyperparameters

Doing 5 lap evaluation on Kumo Torakku training, showing lap completion percentages

Model 1: 100% 100% 100% 100% 100%
Model 2: 46% 67% 61% 100% 62%

Model 3: 70% 58% 100% 100% 100%
Model 4: 63% 88% 100% 36% 27%

This shows you the impact of playing with the hyperparameters.

Kind regards
De Clercq

answered 3 years ago

Thanks a lot.
It has been a great help.

answered 3 years ago

I copied all these waypoints out from the kumo log if it helps anyone.

answered 3 years ago


To get the waypoints you can download the track's .npy file and use the code in the log-analysis workbook to extract them

Log-analysis is here

Track npys are here

See breadcentric's blog on how to use log-analysis (link is in the Pit Stop page)

Kind regards
De Clercq

answered 3 years ago

Hi @DeClercq-AWS,

I'm using your script, but i have a couple of questions:

1- Are Yaw and Steering on Degrees or Radians? It seems to be in Radians.
2- How can we include other parameters?
3- It seems Track Width is not returning the right value. How can we confirm?
4- Is Progress defined from 0-1 or 0-100? It seems it's based on 0-1, but the documentation says 0-100.


Edited by: cladeira on Jun 23, 2019 2:06 PM

answered 3 years ago


The progress in the docs says its a float between 0-100? Or is it 0-1? :)


answered 3 years ago

Progress is a float 0-100.


answered 3 years ago

You are not logged in. Log in to post an answer.

A good answer clearly answers the question and provides constructive feedback and encourages professional growth in the question asker.

Guidelines for Answering Questions