As shown above, in the abstract diagram, the two blocks are the two networks that will be trained. At each time step kk, the “Trailer Truck Kinematics”, or what we have been calling the emulator, takes in the 6-dimension state vector and the steering signal generated from the controller and generate a new 6-dimension state at time k+1k+1.
entraînement d’un réseau de neurones pour contrôler le camion