{"id":1560,"date":"2023-08-16T16:06:23","date_gmt":"2023-08-16T16:06:23","guid":{"rendered":"https:\/\/www.gptmain.news\/?p=1560"},"modified":"2023-08-16T16:06:23","modified_gmt":"2023-08-16T16:06:23","slug":"%d0%be%d0%bf%d1%82%d0%b8%d0%bc%d0%b8%d0%b7%d0%b0%d1%86%d0%b8%d1%8f-%d0%b4%d0%be%d0%b2%d0%b5%d1%80%d0%b5%d0%bd%d0%bd%d0%be%d0%b9-%d0%be%d0%b1%d0%bb%d0%b0%d1%81%d1%82%d0%b8-%d0%b8-%d0%bf%d1%80%d0%be","status":"publish","type":"post","link":"https:\/\/gptmain.news\/?p=1560","title":{"rendered":"\u041e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u044f \u0434\u043e\u0432\u0435\u0440\u0435\u043d\u043d\u043e\u0439 \u043e\u0431\u043b\u0430\u0441\u0442\u0438 \u0438 \u043f\u0440\u043e\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0439 \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438 (TRPO \u0438 PPO)\n | GPTMain News"},"content":{"rendered":"<div id=\"\">\n<p>\u0414\u043e\u0431\u0440\u043e \u043f\u043e\u0436\u0430\u043b\u043e\u0432\u0430\u0442\u044c \u0432 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\u043d\u0430\u0441\u043a\u043e\u043b\u044c\u043a\u043e \u0445\u043e\u0440\u043e\u0448\u0430 \u043d\u043e\u0432\u0430\u044f \u0430\u043f\u043f\u0440\u043e\u043a\u0441\u0438\u043c\u0430\u0446\u0438\u044f.  \u0422\u0430\u043a\u0438\u043c \u043e\u0431\u0440\u0430\u0437\u043e\u043c, \u043c\u044b \u0443\u0432\u0435\u0440\u0435\u043d\u044b, \u0447\u0442\u043e \u043d\u043e\u0432\u0430\u044f \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0430 \u043c\u043e\u0436\u0435\u0442 \u0431\u044b\u0442\u044c \u043d\u0430\u0434\u0435\u0436\u043d\u043e\u0439 \u0438 \u043d\u0435 \u043f\u0440\u0438\u0432\u0435\u0434\u0435\u0442 \u043a \u0441\u0435\u0440\u044c\u0435\u0437\u043d\u043e\u0439 \u0434\u0435\u0433\u0440\u0430\u0434\u0430\u0446\u0438\u0438 \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438.  \u041c\u044b \u043c\u043e\u0436\u0435\u043c \u043c\u0430\u0442\u0435\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u0438 \u0432\u044b\u0440\u0430\u0437\u0438\u0442\u044c \u0443\u043a\u0430\u0437\u0430\u043d\u043d\u043e\u0435 \u0432\u044b\u0448\u0435 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435, \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u0443\u044f \u0440\u0430\u0441\u0445\u043e\u0436\u0434\u0435\u043d\u0438\u0435 KL (\u043a\u043e\u0442\u043e\u0440\u043e\u0435 \u043c\u043e\u0436\u043d\u043e \u043f\u0440\u0435\u0434\u0441\u0442\u0430\u0432\u0438\u0442\u044c \u043a\u0430\u043a \u0440\u0430\u0441\u0441\u0442\u043e\u044f\u043d\u0438\u0435 \u043c\u0435\u0436\u0434\u0443 \u0434\u0432\u0443\u043c\u044f \u0440\u0430\u0441\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u0438\u044f\u043c\u0438 \u0432\u0435\u0440\u043e\u044f\u0442\u043d\u043e\u0441\u0442\u0435\u0439):<\/p>\n<p><strong>\u0420\u0430\u0441\u0445\u043e\u0436\u0434\u0435\u043d\u0438\u0435 KL \u043c\u0435\u0436\u0434\u0443 \u043d\u043e\u0432\u043e\u0439 \u0438 \u0441\u0442\u0430\u0440\u043e\u0439 \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u043e\u0439 \u0434\u043e\u043b\u0436\u043d\u043e \u0431\u044b\u0442\u044c \u043d\u0438\u0436\u0435 \u0434\u0435\u043b\u044c\u0442\u044b (\u03b4), \u0433\u0434\u0435 \u0434\u0435\u043b\u044c\u0442\u0430 \u2014 \u044d\u0442\u043e \u0440\u0430\u0437\u043c\u0435\u0440 \u0440\u0435\u0433\u0438\u043e\u043d\u0430.<\/strong> \u042f \u043c\u043e\u0433 \u0431\u044b \u0437\u0430\u043d\u044f\u0442\u044c\u0441\u044f \u043c\u0430\u0442\u0435\u043c\u0430\u0442\u0438\u043a\u043e\u0439, \u043d\u043e \u044f \u0434\u0443\u043c\u0430\u044e, \u0447\u0442\u043e \u044d\u0442\u043e \u0442\u043e\u043b\u044c\u043a\u043e \u0443\u0441\u043b\u043e\u0436\u043d\u0438\u0442 \u0441\u0438\u0442\u0443\u0430\u0446\u0438\u044e, \u0430 \u043d\u0435 \u043f\u0440\u043e\u044f\u0441\u043d\u0438\u0442 \u0435\u0435.  \u0418\u0442\u0430\u043a, \u043f\u043e \u0441\u0443\u0442\u0438, \u0443 \u043d\u0430\u0441 \u0435\u0441\u0442\u044c \u0442\u043e\u043b\u044c\u043a\u043e <strong>\u0437\u0430\u0434\u0430\u0447\u0430 \u0443\u0441\u043b\u043e\u0432\u043d\u043e\u0439 \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438.<\/strong><\/p>\n<div class=\"math\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"block\"><semantics><mrow><mi><munder><mo><mi mathvariant=\"normal\">\u043c\u0430\u043a\u0441\u0438\u043c\u0438\u0437\u0438\u0440\u043e\u0432\u0430\u0442\u044c<\/mi><mo>\u2061<\/mo><\/mo><mi>\u03b8<\/mi><\/munder><\/mi><mspace width=\"1em\"\/><msub><mover accent=\"true\"><mi mathvariant=\"double-struck\">\u0415<\/mi><mo>^<\/mo><\/mover><mi>\u0442<\/mi><\/msub><mrow><mo fence=\"true\">[<\/mo><mfrac><mrow><msub><mi>\u03c0<\/mi><mi>\u03b8<\/mi><\/msub><mrow><mo fence=\"true\">(<\/mo><msub><mi>a<\/mi><mi>t<\/mi><\/msub><mi mathvariant=\"normal\">\u2223<\/mi><msub><mi>s<\/mi><mi>t<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><\/mrow><mrow><msub><mi>\u03c0<\/mi><msub><mi>\u03b8<\/mi><mtext>old\u00a0<\/mtext><\/msub><\/msub><mrow><mo fence=\"true\">(<\/mo><msub><mi>a<\/mi><mi>t<\/mi><\/msub><mi mathvariant=\"normal\">\u2223<\/mi><msub><mi>s<\/mi><mi>t<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><\/mrow><\/mfrac><msub><mover accent=\"true\"><mi>A<\/mi><mo>^<\/mo><\/mover><mi>t<\/mi><\/msub><mo fence=\"true\">]<\/mo><\/mrow><\/mrow><annotation encoding=\"application\/x-tex\">\\ underset{\\theta}{\\operatorname{\u043c\u0430\u043a\u0441\u0438\u043c\u0438\u0437\u0438\u0440\u043e\u0432\u0430\u0442\u044c}} \\quad \\hat{\\mathbb{E}}_{t}\\left[\\frac{\\pi_{\\theta}\\left(a_{t} | s_{t}\\right)}{\\pi_{\\theta_{\\text {old }}}\\left(a_{t} | s_{t}\\right)} \\hat{A}_{t}\\right]<\/annotation><\/semantics><\/math><\/span><span class=\"katex-html\" aria-hidden=\"true\"><span class=\"base\"><span class=\"strut\" style=\"height:2.40003em;vertical-align:-0.95003em\"\/><span class=\"mord\"><span class=\"mop op-limits\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.66786em\"><span style=\"top:-2.347892em;margin-left:0em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><\/span><\/span><\/span><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span><span class=\"mop\"><span class=\"mop\"><span class=\"mord mathrm\">\u043c<\/span><span class=\"mord mathrm\">\u0430<\/span><span class=\"mord mathrm\">\u0418\u043a\u0441<\/span><span class=\"mord mathrm\">\u044f<\/span><span class=\"mord mathrm\">\u043c<\/span><span class=\"mord mathrm\">\u044f<\/span><span class=\"mord mathrm\">\u0433<\/span><span class=\"mord mathrm\">\u0435<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.7521079999999999em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:1em\"\/><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.9523299999999999em\"><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathbb\">\u0415<\/span><\/span><\/span><\/span><span style=\"top:-3.25789em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"accent-body\" style=\"left:-0.16666em\"><span class=\"mord\">^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u0442<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\"><span class=\"delimsizing size3\">[<\/span><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"\/><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:1.427em\"><span style=\"top:-2.314em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999985em\"><span style=\"top:-2.55em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.3448em\"><span style=\"top:-2.3487714285714287em;margin-left:-0.02778em;margin-right:0.07142857142857144em\"><span class=\"pstrut\" style=\"height:2.5em\"\/><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">old\u00a0<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15122857142857138em\"><span\/><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.25586em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">a<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><\/span><\/span><span style=\"top:-3.23em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"frac-line\" style=\"border-bottom-width:0.04em\"\/><\/span><span style=\"top:-3.677em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999996em\"><span style=\"top:-2.5500000000000003em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">a<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.94186em\"><span\/><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"\/><\/span><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.9467699999999999em\"><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord mathnormal\">A<\/span><\/span><\/span><span style=\"top:-3.25233em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"accent-body\" style=\"left:-0.11110999999999999em\"><span class=\"mord\">^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\"><span class=\"delimsizing size3\">]<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/div>\n<div class=\"math\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"block\"><semantics><mrow><mtext> \u043f\u0440\u0438 \u0443\u0441\u043b\u043e\u0432\u0438\u0438 <\/mtext><mspace width=\"1em\"\/><msub><mi mathvariant=\"double-struck\">\u0415<\/mi><mi>\u0442<\/mi><\/msub><mrow><mo fence=\"true\">[<\/mo><mrow><mi mathvariant=\"normal\">K<\/mi><mi mathvariant=\"normal\">L<\/mi><\/mrow><mrow><mo fence=\"true\">[<\/mo><msub><mi>\u03c0<\/mi><msub><mi>\u03b8<\/mi><mtext>old\u00a0<\/mtext><\/msub><\/msub><mrow><mo fence=\"true\">(<\/mo><mo>\u22c5<\/mo><mi mathvariant=\"normal\">\u2223<\/mi><msub><mi>s<\/mi><mi>t<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><mo separator=\"true\">,<\/mo><msub><mi>\u03c0<\/mi><mi>\u03b8<\/mi><\/msub><mrow><mo fence=\"true\">(<\/mo><mo>\u22c5<\/mo><mi mathvariant=\"normal\">\u2223<\/mi><msub><mi>s<\/mi><mi>t<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><mo fence=\"true\">]<\/mo><\/mrow><mo fence=\"true\">]<\/mo><\/mrow><mo>\u2264<\/mo><mi>\u0434\u0435\u043b\u044c\u0442\u0430<\/mi><\/mrow><annotation encoding=\"application\/x-tex\">\\text {\u043f\u0440\u0438 \u0443\u0441\u043b\u043e\u0432\u0438\u0438} \\quad \\mathbb{E}_{t}\\left[\\mathrm{KL}\\left[\\pi_{\\theta_{\\text {old }}}\\left(\\cdot | s_{t}\\right), \\pi_{\\theta}\\left(\\cdot | s_{t}\\right)\\right]\\\u043f\u0440\u0430\u0432\u043e]\\leq \\\u0434\u0435\u043b\u044c\u0442\u0430<\/annotation><\/semantics><\/math><\/span><span class=\"katex-html\" aria-hidden=\"true\"><span class=\"base\"><span class=\"strut\" style=\"height:1.00586em;vertical-align:-0.25586em\"\/><span class=\"mord text\"><span class=\"mord\"> \u043f\u0440\u0438 \u0443\u0441\u043b\u043e\u0432\u0438\u0438 <\/span><\/span><span class=\"mspace\" style=\"margin-right:1em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathbb\">\u0415<\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u0442<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">[<\/span><span class=\"mord\"><span class=\"mord mathrm\">K<\/span><span class=\"mord mathrm\">L<\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">[<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999985em\"><span style=\"top:-2.55em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.3448em\"><span style=\"top:-2.3487714285714287em;margin-left:-0.02778em;margin-right:0.07142857142857144em\"><span class=\"pstrut\" style=\"height:2.5em\"\/><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">old\u00a0<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15122857142857138em\"><span\/><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.25586em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\">\u22c5<\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999996em\"><span style=\"top:-2.5500000000000003em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\">\u22c5<\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">]<\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">]<\/span><\/span><span class=\"mspace\" style=\"margin-right:0.2777777777777778em\"\/><span class=\"mrel\">\u2264<\/span><span class=\"mspace\" style=\"margin-right:0.2777777777777778em\"\/><\/span><span class=\"base\"><span class=\"strut\" style=\"height:0.69444em;vertical-align:0em\"\/><span class=\"mord mathnormal\" style=\"margin-right:0.03785em\">\u0434\u0435\u043b\u044c\u0442\u0430<\/span><\/span><\/span><\/span><\/span><\/div>\n<p>\u0422\u0435\u043f\u0435\u0440\u044c \u0432\u043e\u043f\u0440\u043e\u0441 \u0432 \u0442\u043e\u043c, \u043a\u0430\u043a \u0440\u0435\u0448\u0438\u0442\u044c \u0437\u0430\u0434\u0430\u0447\u0443 \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438 \u0441 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u044f\u043c\u0438?  \u0418\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435 \u043c\u0435\u0442\u043e\u0434\u0430 \u0441\u043e\u043f\u0440\u044f\u0436\u0435\u043d\u043d\u043e\u0433\u043e \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u0430.  \u041c\u044b, \u043a\u043e\u043d\u0435\u0447\u043d\u043e, \u043c\u043e\u0436\u0435\u043c \u0440\u0435\u0448\u0438\u0442\u044c \u0437\u0430\u0434\u0430\u0447\u0443 \u0430\u043d\u0430\u043b\u0438\u0442\u0438\u0447\u0435\u0441\u043a\u0438 (\u0435\u0441\u0442\u0435\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u043d\u044b\u0439 \u0441\u043f\u0443\u0441\u043a), \u043d\u043e \u044d\u0442\u043e \u0432\u044b\u0447\u0438\u0441\u043b\u0438\u0442\u0435\u043b\u044c\u043d\u043e \u043d\u0435\u044d\u0444\u0444\u0435\u043a\u0442\u0438\u0432\u043d\u043e.  \u0415\u0441\u043b\u0438 \u0432\u044b \u0445\u043e\u0440\u043e\u0448\u043e \u0440\u0430\u0437\u0431\u0438\u0440\u0430\u0435\u0442\u0435\u0441\u044c \u0432 \u0432\u044b\u0447\u0438\u0441\u043b\u0438\u0442\u0435\u043b\u044c\u043d\u043e\u0439 \u043c\u0430\u0442\u0435\u043c\u0430\u0442\u0438\u043a\u0435, \u0432\u044b, \u0432\u043e\u0437\u043c\u043e\u0436\u043d\u043e, \u043f\u043e\u043c\u043d\u0438\u0442\u0435, \u0447\u0442\u043e \u043c\u0435\u0442\u043e\u0434 \u0441\u043e\u043f\u0440\u044f\u0436\u0435\u043d\u043d\u044b\u0445 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u043e\u0432 \u043e\u0431\u0435\u0441\u043f\u0435\u0447\u0438\u0432\u0430\u0435\u0442 \u0447\u0438\u0441\u043b\u0435\u043d\u043d\u043e\u0435 \u0440\u0435\u0448\u0435\u043d\u0438\u0435 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u0440\u0430\u0432\u043d\u0435\u043d\u0438\u0439.  \u042d\u0442\u043e \u043d\u0430\u043c\u043d\u043e\u0433\u043e \u043b\u0443\u0447\u0448\u0435 \u0441 \u0432\u044b\u0447\u0438\u0441\u043b\u0438\u0442\u0435\u043b\u044c\u043d\u043e\u0439 \u0442\u043e\u0447\u043a\u0438 \u0437\u0440\u0435\u043d\u0438\u044f.  \u0422\u0430\u043a\u0438\u043c \u043e\u0431\u0440\u0430\u0437\u043e\u043c, \u0432\u0441\u0435, \u0447\u0442\u043e \u043d\u0430\u043c \u043d\u0443\u0436\u043d\u043e \u0441\u0434\u0435\u043b\u0430\u0442\u044c, \u044d\u0442\u043e \u043b\u0438\u043d\u0435\u0439\u043d\u043e \u0430\u043f\u043f\u0440\u043e\u043a\u0441\u0438\u043c\u0438\u0440\u043e\u0432\u0430\u0442\u044c \u0446\u0435\u043b\u0435\u0432\u0443\u044e \u0444\u0443\u043d\u043a\u0446\u0438\u044e \u0438 \u043a\u0432\u0430\u0434\u0440\u0430\u0442\u0438\u0447\u043d\u043e \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0438 \u043f\u043e\u0437\u0432\u043e\u043b\u0438\u0442\u044c \u0441\u043e\u043f\u0440\u044f\u0436\u0435\u043d\u043d\u043e\u043c\u0443 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u0443 \u0441\u0434\u0435\u043b\u0430\u0442\u044c \u0441\u0432\u043e\u044e \u0440\u0430\u0431\u043e\u0442\u0443.<\/p>\n<p>\u0427\u0442\u043e\u0431\u044b \u043e\u0431\u0435\u0440\u043d\u0443\u0442\u044c \u0432\u0441\u0435 \u044d\u0442\u043e, \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c \u0441\u043e\u0441\u0442\u043e\u0438\u0442 \u0438\u0437 \u0441\u043b\u0435\u0434\u0443\u044e\u0449\u0438\u0445 \u0448\u0430\u0433\u043e\u0432:<\/p>\n<ul>\n<li>\n<p>\u0417\u0430\u043f\u0443\u0441\u043a\u0430\u0435\u043c \u043d\u0430\u0431\u043e\u0440 \u0442\u0440\u0430\u0435\u043a\u0442\u043e\u0440\u0438\u0439 \u0438 \u0441\u043e\u0431\u0438\u0440\u0430\u0435\u043c \u043f\u043e\u043b\u0438\u0441\u044b<\/p>\n<\/li>\n<li>\n<p>\u041e\u0446\u0435\u043d\u0438\u0442\u044c \u043f\u0440\u0435\u0438\u043c\u0443\u0449\u0435\u0441\u0442\u0432\u0430 \u0441 \u043f\u043e\u043c\u043e\u0449\u044c\u044e \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c\u0430 \u043e\u0446\u0435\u043d\u043a\u0438 \u043f\u0440\u0435\u0438\u043c\u0443\u0449\u0435\u0441\u0442\u0432<\/p>\n<\/li>\n<li>\n<p>\u0420\u0435\u0448\u0438\u0442\u0435 \u0437\u0430\u0434\u0430\u0447\u0443 \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438 \u0441 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u044f\u043c\u0438, \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u0443\u044f \u0441\u043e\u043f\u0440\u044f\u0436\u0435\u043d\u043d\u044b\u0439 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442<\/p>\n<\/li>\n<li>\n<p>\u041f\u043e\u0432\u0442\u043e\u0440\u0438\u0442\u044c<\/p>\n<\/li>\n<\/ul>\n<p>\u0412\u043e\u043e\u0431\u0449\u0435 \u0433\u043e\u0432\u043e\u0440\u044f, \u043e\u0431\u043b\u0430\u0441\u0442\u0438 \u0434\u043e\u0432\u0435\u0440\u0438\u044f \u0441\u0447\u0438\u0442\u0430\u044e\u0442\u0441\u044f \u0434\u043e\u0432\u043e\u043b\u044c\u043d\u043e \u0441\u0442\u0430\u043d\u0434\u0430\u0440\u0442\u043d\u044b\u043c \u043c\u0435\u0442\u043e\u0434\u043e\u043c \u0440\u0435\u0448\u0435\u043d\u0438\u044f \u0437\u0430\u0434\u0430\u0447 \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438.  \u0421\u043b\u043e\u0436\u043d\u043e\u0441\u0442\u044c \u0437\u0430\u043a\u043b\u044e\u0447\u0430\u0435\u0442\u0441\u044f \u0432 \u0442\u043e\u043c, \u0447\u0442\u043e\u0431\u044b \u043f\u0440\u0438\u043c\u0435\u043d\u0438\u0442\u044c \u0438\u0445 \u0432 \u043a\u043e\u043d\u0442\u0435\u043a\u0441\u0442\u0435 \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u044f \u0441 \u043f\u043e\u0434\u043a\u0440\u0435\u043f\u043b\u0435\u043d\u0438\u0435\u043c \u0442\u0430\u043a\u0438\u043c \u043e\u0431\u0440\u0430\u0437\u043e\u043c, \u0447\u0442\u043e\u0431\u044b \u043f\u043e\u043b\u0443\u0447\u0438\u0442\u044c \u043f\u0440\u0435\u0438\u043c\u0443\u0449\u0435\u0441\u0442\u0432\u043e \u043f\u0435\u0440\u0435\u0434 \u043f\u0440\u043e\u0441\u0442\u044b\u043c\u0438 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u0430\u043c\u0438 \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438.<\/p>\n<p>\u0425\u043e\u0442\u044f TRPO \u044f\u0432\u043b\u044f\u0435\u0442\u0441\u044f \u043e\u0447\u0435\u043d\u044c \u043c\u043e\u0449\u043d\u044b\u043c \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c\u043e\u043c, \u043e\u043d \u0441\u0442\u0440\u0430\u0434\u0430\u0435\u0442 \u043e\u0442 \u0441\u0435\u0440\u044c\u0435\u0437\u043d\u043e\u0439 \u043f\u0440\u043e\u0431\u043b\u0435\u043c\u044b: \u044d\u0442\u043e\u0433\u043e \u043f\u0440\u043e\u043a\u043b\u044f\u0442\u043e\u0433\u043e \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u044f, \u043a\u043e\u0442\u043e\u0440\u043e\u0435 \u0434\u043e\u0431\u0430\u0432\u043b\u044f\u0435\u0442 \u0434\u043e\u043f\u043e\u043b\u043d\u0438\u0442\u0435\u043b\u044c\u043d\u044b\u0435 \u043d\u0430\u043a\u043b\u0430\u0434\u043d\u044b\u0435 \u0440\u0430\u0441\u0445\u043e\u0434\u044b \u043a \u043d\u0430\u0448\u0435\u0439 \u043f\u0440\u043e\u0431\u043b\u0435\u043c\u0435 \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438.  \u042f \u0438\u043c\u0435\u044e \u0432 \u0432\u0438\u0434\u0443, \u0447\u0442\u043e \u044d\u0442\u043e \u0437\u0430\u0441\u0442\u0430\u0432\u043b\u044f\u0435\u0442 \u043d\u0430\u0441 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u0442\u044c \u043c\u0435\u0442\u043e\u0434 \u0441\u043e\u043f\u0440\u044f\u0436\u0435\u043d\u043d\u044b\u0445 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u043e\u0432 \u0438 \u0441\u0431\u0438\u0432\u0430\u0435\u0442 \u043d\u0430\u0441 \u0441 \u0442\u043e\u043b\u043a\u0443 \u043b\u0438\u043d\u0435\u0439\u043d\u044b\u043c\u0438 \u0438 \u043a\u0432\u0430\u0434\u0440\u0430\u0442\u0438\u0447\u043d\u044b\u043c\u0438 \u043f\u0440\u0438\u0431\u043b\u0438\u0436\u0435\u043d\u0438\u044f\u043c\u0438.  \u0411\u044b\u043b\u043e \u0431\u044b \u043d\u0435\u043f\u043b\u043e\u0445\u043e, \u0435\u0441\u043b\u0438 \u0431\u044b \u043c\u043e\u0436\u043d\u043e \u0431\u044b\u043b\u043e \u043a\u0430\u043a\u0438\u043c-\u0442\u043e \u043e\u0431\u0440\u0430\u0437\u043e\u043c \u0432\u043a\u043b\u044e\u0447\u0438\u0442\u044c \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u043d\u0435\u043f\u043e\u0441\u0440\u0435\u0434\u0441\u0442\u0432\u0435\u043d\u043d\u043e \u0432 \u043d\u0430\u0448\u0443 \u0446\u0435\u043b\u044c \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438?  \u041a\u0430\u043a \u0432\u044b \u043c\u043e\u0433\u043b\u0438 \u0434\u043e\u0433\u0430\u0434\u0430\u0442\u044c\u0441\u044f, \u044d\u0442\u043e \u0438\u043c\u0435\u043d\u043d\u043e \u0442\u043e, \u0447\u0442\u043e \u0434\u0435\u043b\u0430\u0435\u0442 \u043f\u0440\u043e\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u0430\u044f \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u044f \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438.<\/p>\n<div class=\"inline-newsletter-form\">\n<p><h2>\u0417\u0430\u0433\u0440\u0443\u0437\u0438\u0442\u0435 \u043d\u0430\u0448\u0443 \u0431\u0435\u0441\u043f\u043b\u0430\u0442\u043d\u0443\u044e \u044d\u043b\u0435\u043a\u0442\u0440\u043e\u043d\u043d\u0443\u044e \u043a\u043d\u0438\u0433\u0443 \u043f\u043e \u0433\u043b\u0443\u0431\u043e\u043a\u043e\u043c\u0443 \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u044e \u0441 \u043f\u043e\u0434\u043a\u0440\u0435\u043f\u043b\u0435\u043d\u0438\u0435\u043c<\/h2>\n<h4>\u041c\u044b \u043e\u0431\u044a\u0435\u0434\u0438\u043d\u0438\u043b\u0438 \u0432\u0441\u0435 \u0441\u0442\u0430\u0442\u044c\u0438 \u043f\u043e \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u044e \u0441 \u043f\u043e\u0434\u043a\u0440\u0435\u043f\u043b\u0435\u043d\u0438\u0435\u043c \u0432 \u043e\u0434\u0438\u043d PDF-\u0444\u0430\u0439\u043b.  \u041f\u043e\u044d\u0442\u043e\u043c\u0443, \u0435\u0441\u043b\u0438 \u0443 \u0432\u0430\u0441 \u043d\u0435\u0442 \u0432\u0440\u0435\u043c\u0435\u043d\u0438 \u0447\u0438\u0442\u0430\u0442\u044c \u0432\u0441\u044e \u0441\u0442\u0430\u0442\u044c\u044e \u0438\u043b\u0438 \u0432\u044b \u0445\u043e\u0442\u0438\u0442\u0435, \u0447\u0442\u043e\u0431\u044b pdf-\u0432\u0435\u0440\u0441\u0438\u044f \u0447\u0438\u0442\u0430\u043b\u0430\u0441\u044c \u0432 \u0430\u0432\u0442\u043e\u043d\u043e\u043c\u043d\u043e\u043c \u0440\u0435\u0436\u0438\u043c\u0435, \u043d\u0430\u0436\u043c\u0438\u0442\u0435 \u043a\u043d\u043e\u043f\u043a\u0443 \u043d\u0438\u0436\u0435.<\/h4>\n<\/p>\n<div id=\"mauticform_wrapper__drlebook\" class=\"mauticform-wrapper\">\n<div class=\"form-privacy-text--dark\">\n<p>* \u041c\u044b \u0441\u0442\u0440\u0435\u043c\u0438\u043c\u0441\u044f \u043a \u0432\u0430\u0448\u0435\u0439 \u043a\u043e\u043d\u0444\u0438\u0434\u0435\u043d\u0446\u0438\u0430\u043b\u044c\u043d\u043e\u0441\u0442\u0438.  AI Summer \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u0443\u0435\u0442 \u043f\u0440\u0435\u0434\u043e\u0441\u0442\u0430\u0432\u043b\u0435\u043d\u043d\u0443\u044e \u0432\u0430\u043c\u0438 \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u044e \u0434\u043b\u044f \u043e\u0442\u043f\u0440\u0430\u0432\u043a\u0438 \u0432\u0430\u043c \u043d\u0430\u0448\u0435\u0433\u043e \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u043e\u043d\u043d\u043e\u0433\u043e \u0431\u044e\u043b\u043b\u0435\u0442\u0435\u043d\u044f \u0438 \u0441\u0432\u044f\u0437\u0438 \u0441 \u0432\u0430\u043c\u0438 \u043f\u043e \u043f\u043e\u0432\u043e\u0434\u0443 \u043d\u0430\u0448\u0438\u0445 \u043f\u0440\u043e\u0434\u0443\u043a\u0442\u043e\u0432.  \u0412\u044b \u043c\u043e\u0436\u0435\u0442\u0435 \u043e\u0442\u043a\u0430\u0437\u0430\u0442\u044c\u0441\u044f \u043e\u0442 \u043f\u043e\u0434\u043f\u0438\u0441\u043a\u0438 \u043d\u0430 \u044d\u0442\u0438 \u0441\u043e\u043e\u0431\u0449\u0435\u043d\u0438\u044f \u0432 \u043b\u044e\u0431\u043e\u0435 \u0432\u0440\u0435\u043c\u044f.  \u0414\u043b\u044f \u043f\u043e\u043b\u0443\u0447\u0435\u043d\u0438\u044f \u0434\u043e\u043f\u043e\u043b\u043d\u0438\u0442\u0435\u043b\u044c\u043d\u043e\u0439 \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u0438 \u043e\u0437\u043d\u0430\u043a\u043e\u043c\u044c\u0442\u0435\u0441\u044c \u0441 \u043d\u0430\u0448\u0438\u043c<!-- --> \u041f\u043e\u043b\u0438\u0442\u0438\u043a\u0430 \u043a\u043e\u043d\u0444\u0438\u0434\u0435\u043d\u0446\u0438\u0430\u043b\u044c\u043d\u043e\u0441\u0442\u0438.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<h2 id=\"proximal-policy-optimization-ppo\">\u041f\u0440\u043e\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u0430\u044f \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u044f \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438 (PPO)<\/h2>\n<p>\u042d\u0442\u0430 \u043f\u0440\u043e\u0441\u0442\u0430\u044f \u0438\u0434\u0435\u044f \u0434\u0430\u043b\u0430 \u043d\u0430\u043c \u0433\u043e\u0440\u0430\u0437\u0434\u043e \u0431\u043e\u043b\u0435\u0435 \u043f\u0440\u043e\u0441\u0442\u043e\u0439 \u0438 \u0438\u043d\u0442\u0443\u0438\u0442\u0438\u0432\u043d\u043e \u043f\u043e\u043d\u044f\u0442\u043d\u044b\u0439 \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c, \u0447\u0435\u043c TRPO.  \u0418 \u043e\u043a\u0430\u0437\u044b\u0432\u0430\u0435\u0442\u0441\u044f, \u0447\u0442\u043e \u0431\u043e\u043b\u044c\u0448\u0443\u044e \u0447\u0430\u0441\u0442\u044c \u0432\u0440\u0435\u043c\u0435\u043d\u0438 \u043e\u043d \u043f\u0440\u0435\u0432\u043e\u0441\u0445\u043e\u0434\u0438\u0442 \u043c\u043d\u043e\u0433\u0438\u0435 \u0438\u0437 \u0441\u0443\u0449\u0435\u0441\u0442\u0432\u0443\u044e\u0449\u0438\u0445 \u0442\u0435\u0445\u043d\u0438\u043a.  \u0422\u0430\u043a\u0438\u043c \u043e\u0431\u0440\u0430\u0437\u043e\u043c, \u0432\u043c\u0435\u0441\u0442\u043e \u0442\u043e\u0433\u043e, \u0447\u0442\u043e\u0431\u044b \u0434\u043e\u0431\u0430\u0432\u043b\u044f\u0442\u044c \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u043e\u0442\u0434\u0435\u043b\u044c\u043d\u043e, \u043c\u044b \u0432\u043a\u043b\u044e\u0447\u0430\u0435\u043c \u0435\u0433\u043e \u0432 \u0446\u0435\u043b\u0435\u0432\u0443\u044e \u0444\u0443\u043d\u043a\u0446\u0438\u044e \u0432 \u043a\u0430\u0447\u0435\u0441\u0442\u0432\u0435 \u0448\u0442\u0440\u0430\u0444\u0430 (\u043c\u044b \u0432\u044b\u0447\u0438\u0442\u0430\u0435\u043c \u0440\u0430\u0441\u0445\u043e\u0436\u0434\u0435\u043d\u0438\u0435 KL, \u0443\u043c\u043d\u043e\u0436\u0435\u043d\u043d\u043e\u0435 \u043d\u0430 \u043a\u043e\u043d\u0441\u0442\u0430\u043d\u0442\u0443 C, \u0438\u0437 \u0444\u0443\u043d\u043a\u0446\u0438\u0438).<\/p>\n<div class=\"math\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"block\"><semantics><mrow><mi><munder><mo><mi mathvariant=\"normal\">\u043c\u0430\u043a\u0441\u0438\u043c\u0438\u0437\u0438\u0440\u043e\u0432\u0430\u0442\u044c<\/mi><mo>\u2061<\/mo><\/mo><mi>\u03b8<\/mi><\/munder><\/mi><munderover><mo>\u2211<\/mo><mrow><mi>\u043d<\/mi><mo>&#8220;=&#8221;<\/mo><mn>1<\/mn><\/mrow><mi>\u041d<\/mi><\/munderover><mfrac><mrow><msub><mi>\u03c0<\/mi><mi>\u03b8<\/mi><\/msub><mrow><mo fence=\"true\">(<\/mo><msub><mi>\u0430<\/mi><mi>\u043d<\/mi><\/msub><mi mathvariant=\"normal\">\u2223<\/mi><msub><mi>\u0441<\/mi><mi>\u043d<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><\/mrow><mrow><msub><mi>\u03c0<\/mi><msub><mi>\u03b8<\/mi><mtext>\u0441\u0442\u0430\u0440\u044b\u0439 <\/mtext><\/msub><\/msub><mrow><mo fence=\"true\">(<\/mo><msub><mi>\u0430<\/mi><mi>\u043d<\/mi><\/msub><mi mathvariant=\"normal\">\u2223<\/mi><msub><mi>\u0441<\/mi><mi>\u043d<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><\/mrow><\/mfrac><msub><mover accent=\"true\"><mi>\u0410<\/mi><mo>^<\/mo><\/mover><mi>\u043d<\/mi><\/msub><mo>\u2212<\/mo><mi>\u0421<\/mi><mo>\u22c5<\/mo><msub><mover accent=\"true\"><mrow><mi mathvariant=\"normal\">\u041a<\/mi><mi mathvariant=\"normal\">\u043b<\/mi><\/mrow><mo stretchy=\"true\">\u203e<\/mo><\/mover><msub><mi>\u03c0<\/mi><msub><mi>\u03b8<\/mi><mtext>\u0441\u0442\u0430\u0440\u044b\u0439 <\/mtext><\/msub><\/msub><\/msub><mrow><mo fence=\"true\">(<\/mo><msub><mi>\u03c0<\/mi><mi>\u03b8<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><\/mrow><annotation encoding=\"application\/x-tex\">\\ underset{\\theta}{\\operatorname{\u043c\u0430\u043a\u0441\u0438\u043c\u0438\u0437\u0438\u0440\u043e\u0432\u0430\u0442\u044c}} \\sum_{n=1}^{N} \\frac{\\pi_{\\theta}\\left(a_{n} | s_{n}\\right)}{ \\ pi _ {\\ theta _ {\\ text {\u0441\u0442\u0430\u0440\u044b\u0439}}} \\ left (a_ {n} | s_ {n} \\ right)} \\ hat {A} _ {n} -C \\ cdot \\ overline {\\ mathrm {KL} } _ {\\ pi _ {\\ theta _ {\\ text {\u0441\u0442\u0430\u0440\u044b\u0439}}}} \\ left (\\ pi _ {\\ theta} \\ right)<\/annotation><\/semantics><\/math><\/span><span class=\"katex-html\" aria-hidden=\"true\"><span class=\"base\"><span class=\"strut\" style=\"height:3.0954490000000003em;vertical-align:-1.267113em\"\/><span class=\"mord\"><span class=\"mop op-limits\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.66786em\"><span style=\"top:-2.347892em;margin-left:0em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><\/span><\/span><\/span><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span><span class=\"mop\"><span class=\"mop\"><span class=\"mord mathrm\">\u043c<\/span><span class=\"mord mathrm\">\u0430<\/span><span class=\"mord mathrm\">\u0418\u043a\u0441<\/span><span class=\"mord mathrm\">\u044f<\/span><span class=\"mord mathrm\">\u043c<\/span><span class=\"mord mathrm\">\u044f<\/span><span class=\"mord mathrm\">\u0433<\/span><span class=\"mord mathrm\">\u0435<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.7521079999999999em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"mop op-limits\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:1.8283360000000002em\"><span style=\"top:-1.882887em;margin-left:0em\"><span class=\"pstrut\" style=\"height:3.05em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u043d<\/span><span class=\"mrel mtight\">&#8220;=&#8221;<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span style=\"top:-3.050005em\"><span class=\"pstrut\" style=\"height:3.05em\"\/><span><span class=\"mop op-symbol large-op\">\u2211<\/span><\/span><\/span><span style=\"top:-4.3000050000000005em;margin-left:0em\"><span class=\"pstrut\" style=\"height:3.05em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.10903em\">\u041d<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:1.267113em\"><span\/><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"mord\"><span class=\"mopen nulldelimiter\"\/><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:1.427em\"><span style=\"top:-2.314em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999985em\"><span style=\"top:-2.55em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.3448em\"><span style=\"top:-2.3487714285714287em;margin-left:-0.02778em;margin-right:0.07142857142857144em\"><span class=\"pstrut\" style=\"height:2.5em\"\/><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">\u0441\u0442\u0430\u0440\u044b\u0439 <\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15122857142857138em\"><span\/><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.25586em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u0430<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.151392em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u043d<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u0441<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.151392em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u043d<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><\/span><\/span><span style=\"top:-3.23em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"frac-line\" style=\"border-bottom-width:0.04em\"\/><\/span><span style=\"top:-3.677em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999996em\"><span style=\"top:-2.5500000000000003em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u0430<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.151392em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u043d<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u0441<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.151392em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u043d<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.94186em\"><span\/><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"\/><\/span><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.9467699999999999em\"><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord mathnormal\">\u0410<\/span><\/span><\/span><span style=\"top:-3.25233em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"accent-body\" style=\"left:-0.11110999999999999em\"><span class=\"mord\">^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.151392em\"><span style=\"top:-2.5500000000000003em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u043d<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.2222222222222222em\"\/><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right:0.2222222222222222em\"\/><\/span><span class=\"base\"><span class=\"strut\" style=\"height:0.68333em;vertical-align:0em\"\/><span class=\"mord mathnormal\" style=\"margin-right:0.07153em\">\u0421<\/span><span class=\"mspace\" style=\"margin-right:0.2222222222222222em\"\/><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right:0.2222222222222222em\"\/><\/span><span class=\"base\"><span class=\"strut\" style=\"height:1.3140100000000001em;vertical-align:-0.43067999999999995em\"\/><span class=\"mord\"><span class=\"mord overline\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.8833300000000001em\"><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathrm\">\u041a<\/span><span class=\"mord mathrm\">\u043b<\/span><\/span><\/span><\/span><span style=\"top:-3.80333em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"overline-line\" style=\"border-bottom-width:0.04em\"\/><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15139199999999997em\"><span style=\"top:-2.5500000000000003em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.34480000000000005em\"><span style=\"top:-2.3487714285714287em;margin-left:-0.03588em;margin-right:0.07142857142857144em\"><span class=\"pstrut\" style=\"height:2.5em\"\/><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.3448em\"><span style=\"top:-2.3448em;margin-left:-0.02778em;margin-right:0.1em\"><span class=\"pstrut\" style=\"height:2.69444em\"\/><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">\u0441\u0442\u0430\u0440\u044b\u0439 <\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.34963999999999995em\"><span\/><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.4009714285714285em\"><span\/><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.43067999999999995em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999996em\"><span style=\"top:-2.5500000000000003em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><\/span><\/span><\/span><\/span><\/div>\n<p>\u041a\u0430\u043a \u0442\u043e\u043b\u044c\u043a\u043e \u043c\u044b \u044d\u0442\u043e \u0441\u0434\u0435\u043b\u0430\u0435\u043c, \u043d\u0435\u0442 \u043d\u0435\u043e\u0431\u0445\u043e\u0434\u0438\u043c\u043e\u0441\u0442\u0438 \u0440\u0435\u0448\u0430\u0442\u044c \u0437\u0430\u0434\u0430\u0447\u0443 \u0441 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u044f\u043c\u0438, \u0438 \u0432\u043c\u0435\u0441\u0442\u043e \u044d\u0442\u043e\u0433\u043e \u043c\u044b \u043c\u043e\u0436\u0435\u043c \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u0442\u044c \u043f\u0440\u043e\u0441\u0442\u043e\u0439 \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u043d\u044b\u0439 \u0441\u043f\u0443\u0441\u043a \u0432 \u043f\u0440\u0438\u0432\u0435\u0434\u0435\u043d\u043d\u043e\u0439 \u0432\u044b\u0448\u0435 \u0444\u0443\u043d\u043a\u0446\u0438\u0438.  \u0418 \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c \u043f\u0440\u0435\u043e\u0431\u0440\u0430\u0437\u0443\u0435\u0442\u0441\u044f \u0441\u043b\u0435\u0434\u0443\u044e\u0449\u0438\u043c \u043e\u0431\u0440\u0430\u0437\u043e\u043c:<\/p>\n<ul>\n<li>\n<p>\u0417\u0430\u043f\u0443\u0441\u043a\u0430\u0435\u043c \u043d\u0430\u0431\u043e\u0440 \u0442\u0440\u0430\u0435\u043a\u0442\u043e\u0440\u0438\u0439 \u0438 \u0441\u043e\u0431\u0438\u0440\u0430\u0435\u043c \u043f\u043e\u043b\u0438\u0441\u044b<\/p>\n<\/li>\n<li>\n<p>\u041e\u0446\u0435\u043d\u0438\u0442\u0435 \u043f\u0440\u0435\u0438\u043c\u0443\u0449\u0435\u0441\u0442\u0432\u0430 \u0441 \u043f\u043e\u043c\u043e\u0449\u044c\u044e \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c\u0430 \u043e\u0446\u0435\u043d\u043a\u0438 \u043f\u0440\u0435\u0438\u043c\u0443\u0449\u0435\u0441\u0442\u0432<\/p>\n<\/li>\n<li>\n<p>\u0412\u044b\u043f\u043e\u043b\u043d\u0438\u0442\u0435 \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u043d\u044b\u0439 \u0441\u043f\u0443\u0441\u043a \u043f\u043e \u0446\u0435\u043b\u0435\u0432\u043e\u0439 \u0444\u0443\u043d\u043a\u0446\u0438\u0438 \u0434\u043b\u044f \u043e\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u043d\u043e\u0433\u043e \u043a\u043e\u043b\u0438\u0447\u0435\u0441\u0442\u0432\u0430 \u044d\u043f\u043e\u0445<\/p>\n<\/li>\n<li>\n<p>\u041f\u043e\u0432\u0442\u043e\u0440\u0438\u0442\u044c<\/p>\n<\/li>\n<\/ul>\n<p>\u041d\u0435\u0431\u043e\u043b\u044c\u0448\u0430\u044f \u043e\u0433\u043e\u0432\u043e\u0440\u043a\u0430, \u0447\u0442\u043e \u0442\u0440\u0443\u0434\u043d\u043e \u0432\u044b\u0431\u0440\u0430\u0442\u044c \u043a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 <em>\u0421<\/em> \u0442\u0430\u043a\u0438\u043c \u043e\u0431\u0440\u0430\u0437\u043e\u043c, \u0447\u0442\u043e\u0431\u044b \u043e\u043d \u0445\u043e\u0440\u043e\u0448\u043e \u0440\u0430\u0431\u043e\u0442\u0430\u043b \u043d\u0430 \u043f\u0440\u043e\u0442\u044f\u0436\u0435\u043d\u0438\u0438 \u0432\u0441\u0435\u0433\u043e \u043f\u0440\u043e\u0446\u0435\u0441\u0441\u0430 \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438.  \u0427\u0442\u043e\u0431\u044b \u0440\u0435\u0448\u0438\u0442\u044c \u044d\u0442\u0443 \u043f\u0440\u043e\u0431\u043b\u0435\u043c\u0443, \u043c\u044b \u043e\u0431\u043d\u043e\u0432\u043b\u044f\u0435\u043c \u043a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0432 \u0437\u0430\u0432\u0438\u0441\u0438\u043c\u043e\u0441\u0442\u0438 \u043e\u0442 \u0442\u043e\u0433\u043e, \u043d\u0430\u0441\u043a\u043e\u043b\u044c\u043a\u043e \u0432\u0435\u043b\u0438\u043a\u0430 \u0438\u043b\u0438 \u043c\u0430\u043b\u0430 \u0434\u0438\u0432\u0435\u0440\u0433\u0435\u043d\u0446\u0438\u044f KL.  \u0415\u0441\u043b\u0438 KL \u0441\u043b\u0438\u0448\u043a\u043e\u043c \u0432\u044b\u0441\u043e\u043a\u0438\u0439, \u043c\u044b \u0435\u0433\u043e \u0443\u0432\u0435\u043b\u0438\u0447\u0438\u0432\u0430\u0435\u043c, \u0435\u0441\u043b\u0438 \u043e\u043d \u0441\u043b\u0438\u0448\u043a\u043e\u043c \u043d\u0438\u0437\u043a\u0438\u0439, \u043c\u044b \u0435\u0433\u043e \u0443\u043c\u0435\u043d\u044c\u0448\u0430\u0435\u043c.<\/p>\n<p>\u0422\u0430\u043a \u044d\u0442\u043e \u043e\u043d\u043e?  \u042d\u0442\u043e \u0437\u043d\u0430\u043c\u0435\u043d\u0438\u0442\u0430\u044f \u043f\u0440\u043e\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u0430\u044f \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u044f \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438?  \u0412\u043e\u043e\u0431\u0449\u0435-\u0442\u043e, \u043d\u0435\u0442.  \u0418\u0437\u0432\u0438\u043d\u0438 \u0437\u0430 \u044d\u0442\u043e.  \u041f\u043e\u043b\u0443\u0447\u0430\u0435\u0442\u0441\u044f, \u0447\u0442\u043e \u043e\u043f\u0438\u0441\u0430\u043d\u043d\u0430\u044f \u0432\u044b\u0448\u0435 \u0444\u0443\u043d\u043a\u0446\u0438\u044f \u043d\u0435 \u0441\u043e\u0432\u043f\u0430\u0434\u0430\u0435\u0442 \u0441 \u043e\u0440\u0438\u0433\u0438\u043d\u0430\u043b\u044c\u043d\u043e\u0439 \u0431\u0443\u043c\u0430\u0433\u043e\u0439.  \u0410\u0432\u0442\u043e\u0440\u044b \u043d\u0430\u0448\u043b\u0438 \u0441\u043f\u043e\u0441\u043e\u0431 \u0443\u043b\u0443\u0447\u0448\u0438\u0442\u044c \u044d\u0442\u0443 \u043e\u0448\u0442\u0440\u0430\u0444\u043e\u0432\u0430\u043d\u043d\u0443\u044e \u0432\u0435\u0440\u0441\u0438\u044e \u0434\u043e \u043d\u043e\u0432\u043e\u0439, \u0431\u043e\u043b\u0435\u0435 \u043d\u0430\u0434\u0435\u0436\u043d\u043e\u0439 \u0446\u0435\u043b\u0435\u0432\u043e\u0439 \u0444\u0443\u043d\u043a\u0446\u0438\u0438.<\/p>\n<div class=\"math\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"block\"><semantics><mrow><msub><mi>\u0440<\/mi><mi>\u0442<\/mi><\/msub><mo stretchy=\"false\">(<\/mo><mi>\u03b8<\/mi><mo stretchy=\"false\">)<\/mo><mo>&#8220;=&#8221;<\/mo><mfrac><mrow><msub><mi>\u03c0<\/mi><mi>\u03b8<\/mi><\/msub><mrow><mo fence=\"true\">(<\/mo><msub><mi>\u0430<\/mi><mi>\u0442<\/mi><\/msub><mi mathvariant=\"normal\">\u2223<\/mi><msub><mi>\u0441<\/mi><mi>\u0442<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><\/mrow><mrow><msub><mi>\u03c0<\/mi><msub><mi>\u03b8<\/mi><mtext>\u0441\u0442\u0430\u0440\u044b\u0439 <\/mtext><\/msub><\/msub><mrow><mo fence=\"true\">(<\/mo><msub><mi>\u0430<\/mi><mi>\u0442<\/mi><\/msub><mi mathvariant=\"normal\">\u2223<\/mi><msub><mi>\u0441<\/mi><mi>\u0442<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><\/mrow><\/mfrac><\/mrow><annotation encoding=\"application\/x-tex\">r_ {t} (\\ theta) = \\ frac {\\ pi _ {\\ theta} \\ left (a_ {t} | s_ {t} \\ right)} {\\ pi _ {\\ theta _ {\\ text {\u0441\u0442\u0430\u0440\u044b\u0439}}} \\ left (a_{t} | s_{t}\\\u043f\u0440\u0430\u0432\u043e)}<\/annotation><\/semantics><\/math><\/span><span class=\"katex-html\" aria-hidden=\"true\"><span class=\"base\"><span class=\"strut\" style=\"height:1em;vertical-align:-0.25em\"\/><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.02778em\">\u0440<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:-0.02778em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u0442<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right:0.2777777777777778em\"\/><span class=\"mrel\">&#8220;=&#8221;<\/span><span class=\"mspace\" style=\"margin-right:0.2777777777777778em\"\/><\/span><span class=\"base\"><span class=\"strut\" style=\"height:2.36886em;vertical-align:-0.94186em\"\/><span class=\"mord\"><span class=\"mopen nulldelimiter\"\/><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:1.427em\"><span style=\"top:-2.314em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999985em\"><span style=\"top:-2.55em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.3448em\"><span style=\"top:-2.3487714285714287em;margin-left:-0.02778em;margin-right:0.07142857142857144em\"><span class=\"pstrut\" style=\"height:2.5em\"\/><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">\u0441\u0442\u0430\u0440\u044b\u0439 <\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15122857142857138em\"><span\/><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.25586em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u0430<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u0442<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u0441<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u0442<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><\/span><\/span><span style=\"top:-3.23em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"frac-line\" style=\"border-bottom-width:0.04em\"\/><\/span><span style=\"top:-3.677em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.03588em\">\u03c0<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.33610799999999996em\"><span style=\"top:-2.5500000000000003em;margin-left:-0.03588em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.02778em\">\u03b8<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u0430<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u0442<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u0441<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:0em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u0442<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.94186em\"><span\/><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"\/><\/span><\/span><\/span><\/span><\/span><\/div>\n<div class=\"math\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"block\"><semantics><mrow><msup><mi>\u043b<\/mi><mrow><mi>\u0421<\/mi><mi>\u043b<\/mi><mi>\u044f<\/mi><mi>\u043f<\/mi><\/mrow><\/msup><mo stretchy=\"false\">(<\/mo><mi>\u03b8<\/mi><mo stretchy=\"false\">)<\/mo><mo>&#8220;=&#8221;<\/mo><msub><mover accent=\"true\"><mi mathvariant=\"double-struck\">\u0415<\/mi><mo>^<\/mo><\/mover><mi>\u0442<\/mi><\/msub><mrow><mo fence=\"true\">[<\/mo><mi>min<\/mi><mo>\u2061<\/mo><mrow><mo fence=\"true\">(<\/mo><msub><mi>r<\/mi><mi>t<\/mi><\/msub><mo stretchy=\"false\">(<\/mo><mi>\u03b8<\/mi><mo stretchy=\"false\">)<\/mo><msub><mover accent=\"true\"><mi>A<\/mi><mo>^<\/mo><\/mover><mi>t<\/mi><\/msub><mo separator=\"true\">,<\/mo><mi mathvariant=\"normal\">clip<\/mi><mo>\u2061<\/mo><mrow><mo fence=\"true\">(<\/mo><msub><mi>r<\/mi><mi>t<\/mi><\/msub><mo stretchy=\"false\">(<\/mo><mi>\u03b8<\/mi><mo stretchy=\"false\">)<\/mo><mo separator=\"true\">,<\/mo><mn>1<\/mn><mo>\u2212<\/mo><mi>\u03f5<\/mi><mo separator=\"true\">,<\/mo><mn>1<\/mn><mo>+<\/mo><mi>\u03f5<\/mi><mo fence=\"true\">)<\/mo><\/mrow><msub><mover accent=\"true\"><mi>A<\/mi><mo>^<\/mo><\/mover><mi>t<\/mi><\/msub><mo fence=\"true\">)<\/mo><\/mrow><mo fence=\"true\">]<\/mo><\/mrow><\/mrow><annotation encoding=\"application\/x-tex\">L ^ {CLIP} (\\ \u0442\u0435\u0442\u0430) = \\ \u0448\u043b\u044f\u043f\u0430 {\\ mathbb {E}} _ {t} \\ \u0432\u043b\u0435\u0432\u043e[\\min \\left(r_{t}(\\theta) \\hat{A}_{t}, \\operatorname{clip}\\left(r_{t}(\\theta), 1-\\epsilon, 1+\\epsilon\\right) \\hat{A}_{t}\\right)\\right]<\/annotation><\/semantics><\/math><\/span><span class=\"katex-html\" aria-hidden=\"true\"><span class=\"base\"><span class=\"strut\" style=\"height:1.1413309999999999em;vertical-align:-0.25em\"\/><span class=\"mord\"><span class=\"mord mathnormal\">\u043b<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.8913309999999999em\"><span style=\"top:-3.113em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right:0.07153em\">\u0421<\/span><span class=\"mord mathnormal mtight\">\u043b<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right:0.07847em\">\u044f<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right:0.13889em\">\u043f<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right:0.2777777777777778em\"\/><span class=\"mrel\">&#8220;=&#8221;<\/span><span class=\"mspace\" style=\"margin-right:0.2777777777777778em\"\/><\/span><span class=\"base\"><span class=\"strut\" style=\"height:1.80002em;vertical-align:-0.65002em\"\/><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.9523299999999999em\"><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathbb\">\u0415<\/span><\/span><\/span><\/span><span style=\"top:-3.25789em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"accent-body\" style=\"left:-0.16666em\"><span class=\"mord\">^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">\u0442<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\"><span class=\"delimsizing size2\">[<\/span><\/span><span class=\"mop\">min<\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\"><span class=\"delimsizing size2\">(<\/span><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.02778em\">r<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:-0.02778em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"mclose\">)<\/span><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.9467699999999999em\"><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord mathnormal\">A<\/span><\/span><\/span><span style=\"top:-3.25233em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"accent-body\" style=\"left:-0.11110999999999999em\"><span class=\"mord\">^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"mop\"><span class=\"mord mathrm\">c<\/span><span class=\"mord mathrm\">l<\/span><span class=\"mord mathrm\">i<\/span><span class=\"mord mathrm\">p<\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top:0em\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right:0.02778em\">r<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-left:-0.02778em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\" style=\"margin-right:0.02778em\">\u03b8<\/span><span class=\"mclose\">)<\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"mord\">1<\/span><span class=\"mspace\" style=\"margin-right:0.2222222222222222em\"\/><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right:0.2222222222222222em\"\/><span class=\"mord mathnormal\">\u03f5<\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"mord\">1<\/span><span class=\"mspace\" style=\"margin-right:0.2222222222222222em\"\/><span class=\"mbin\">+<\/span><span class=\"mspace\" style=\"margin-right:0.2222222222222222em\"\/><span class=\"mord mathnormal\">\u03f5<\/span><span class=\"mclose delimcenter\" style=\"top:0em\">)<\/span><\/span><span class=\"mspace\" style=\"margin-right:0.16666666666666666em\"\/><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.9467699999999999em\"><span style=\"top:-3em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"mord\"><span class=\"mord mathnormal\">A<\/span><\/span><\/span><span style=\"top:-3.25233em\"><span class=\"pstrut\" style=\"height:3em\"\/><span class=\"accent-body\" style=\"left:-0.11110999999999999em\"><span class=\"mord\">^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.2805559999999999em\"><span style=\"top:-2.5500000000000003em;margin-right:0.05em\"><span class=\"pstrut\" style=\"height:2.7em\"\/><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height:0.15em\"><span\/><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\"><span class=\"delimsizing size2\">)<\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top:0em\"><span class=\"delimsizing size2\">]<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/div>\n<p>\u042d\u0439, \u043f\u043e\u0434\u043e\u0436\u0434\u0438.  \u0427\u0442\u043e \u0437\u0434\u0435\u0441\u044c \u0441\u043b\u0443\u0447\u0438\u043b\u043e\u0441\u044c?  \u041d\u0430 \u0441\u0430\u043c\u043e\u043c \u0434\u0435\u043b\u0435, \u043d\u0435 \u0442\u0430\u043a \u043c\u043d\u043e\u0433\u043e.  \u041f\u043e\u0437\u0432\u043e\u043b\u044c \u043c\u043d\u0435 \u043e\u0431\u044a\u044f\u0441\u043d\u0438\u0442\u044c.  \u041e\u0434\u043d\u0430 \u0432\u0435\u0449\u044c, \u043a\u043e\u0442\u043e\u0440\u0443\u044e \u044f \u043f\u043e\u043a\u0430 \u043d\u0430\u043c\u0435\u0440\u0435\u043d\u043d\u043e \u0443\u043f\u0443\u0441\u0442\u0438\u043b, \u044d\u0442\u043e \u0442\u0430 \u0447\u0430\u0441\u0442\u044c \u0432\u0435\u0440\u043e\u044f\u0442\u043d\u043e\u0441\u0442\u0435\u0439, \u043a\u043e\u0442\u043e\u0440\u0430\u044f, \u043f\u043e-\u0432\u0438\u0434\u0438\u043c\u043e\u043c\u0443, \u043f\u0440\u0438\u0441\u0443\u0442\u0441\u0442\u0432\u0443\u0435\u0442 \u0438 \u0432 TRPO.  \u0427\u0442\u043e \u0436, \u044d\u0442\u043e \u043d\u0430\u0437\u044b\u0432\u0430\u0435\u0442\u0441\u044f \u0432\u044b\u0431\u043e\u0440\u043a\u043e\u0439 \u043f\u043e \u0432\u0430\u0436\u043d\u043e\u0441\u0442\u0438.  \u041f\u043e \u0441\u0443\u0442\u0438, \u0443 \u043d\u0430\u0441 \u0435\u0441\u0442\u044c \u043d\u043e\u0432\u0430\u044f \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0430, \u043a\u043e\u0442\u043e\u0440\u0443\u044e \u043c\u044b \u0445\u043e\u0442\u0438\u043c \u043e\u0446\u0435\u043d\u0438\u0442\u044c, \u0438 \u0441\u0442\u0430\u0440\u0430\u044f, \u043a\u043e\u0442\u043e\u0440\u0443\u044e \u043c\u044b \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u0443\u0435\u043c \u0434\u043b\u044f \u0441\u0431\u043e\u0440\u0430 \u043e\u0431\u0440\u0430\u0437\u0446\u043e\u0432.  \u0421 <strong>\u0432\u044b\u0431\u043e\u0440\u043a\u0430 \u043f\u043e \u0432\u0430\u0436\u043d\u043e\u0441\u0442\u0438<\/strong>, \u043c\u044b \u043c\u043e\u0436\u0435\u043c \u043e\u0446\u0435\u043d\u0438\u0442\u044c \u043d\u043e\u0432\u0443\u044e \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0443 \u0441 \u043e\u0431\u0440\u0430\u0437\u0446\u0430\u043c\u0438 \u0438\u0437 \u0441\u0442\u0430\u0440\u043e\u0439 \u0438 \u043f\u043e\u0432\u044b\u0441\u0438\u0442\u044c \u044d\u0444\u0444\u0435\u043a\u0442\u0438\u0432\u043d\u043e\u0441\u0442\u044c \u0432\u044b\u0431\u043e\u0440\u043a\u0438.  \u041e\u0442\u043d\u043e\u0448\u0435\u043d\u0438\u0435 \u043f\u043e\u043a\u0430\u0437\u044b\u0432\u0430\u0435\u0442, \u043d\u0430\u0441\u043a\u043e\u043b\u044c\u043a\u043e \u0440\u0430\u0437\u043b\u0438\u0447\u043d\u044b \u0434\u0432\u0435 \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438, \u0438 \u043c\u044b \u043e\u0431\u043e\u0437\u043d\u0430\u0447\u0430\u0435\u043c \u0435\u0433\u043e \u043a\u0430\u043a r (\u0442\u0435\u0442\u0430).<\/p>\n<p>\u0418\u0441\u043f\u043e\u043b\u044c\u0437\u0443\u044f \u044d\u0442\u043e \u043e\u0442\u043d\u043e\u0448\u0435\u043d\u0438\u0435, \u043c\u044b \u043c\u043e\u0436\u0435\u043c \u043f\u043e\u0441\u0442\u0440\u043e\u0438\u0442\u044c \u043d\u043e\u0432\u0443\u044e \u0446\u0435\u043b\u0435\u0432\u0443\u044e \u0444\u0443\u043d\u043a\u0446\u0438\u044e \u0434\u043b\u044f <strong>\u043e\u0431\u0440\u0435\u0437\u0430\u0442\u044c \u043f\u0440\u0435\u0434\u043f\u043e\u043b\u0430\u0433\u0430\u0435\u043c\u043e\u0435 \u043f\u0440\u0435\u0438\u043c\u0443\u0449\u0435\u0441\u0442\u0432\u043e, \u0435\u0441\u043b\u0438 \u043d\u043e\u0432\u0430\u044f \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0430 \u0434\u0430\u043b\u0435\u043a\u043e \u043e\u0442 \u0441\u0442\u0430\u0440\u043e\u0439<\/strong>.  \u0418 \u044d\u0442\u043e \u0438\u043c\u0435\u043d\u043d\u043e \u0442\u043e, \u0447\u0442\u043e \u0434\u0435\u043b\u0430\u0435\u0442 \u043f\u0440\u0438\u0432\u0435\u0434\u0435\u043d\u043d\u043e\u0435 \u0432\u044b\u0448\u0435 \u0443\u0440\u0430\u0432\u043d\u0435\u043d\u0438\u0435.  \u0415\u0441\u043b\u0438 \u0434\u0435\u0439\u0441\u0442\u0432\u0438\u0435 \u0433\u043e\u0440\u0430\u0437\u0434\u043e \u0431\u043e\u043b\u0435\u0435 \u0432\u0435\u0440\u043e\u044f\u0442\u043d\u043e \u043f\u0440\u0438 \u043d\u043e\u0432\u043e\u0439 \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0435, \u0447\u0435\u043c \u043f\u0440\u0438 \u0441\u0442\u0430\u0440\u043e\u0439, \u043c\u044b \u043d\u0435 \u0445\u043e\u0442\u0438\u043c \u043f\u0435\u0440\u0435\u0443\u0441\u0435\u0440\u0434\u0441\u0442\u0432\u043e\u0432\u0430\u0442\u044c \u0441 \u043e\u0431\u043d\u043e\u0432\u043b\u0435\u043d\u0438\u0435\u043c \u0434\u0435\u0439\u0441\u0442\u0432\u0438\u044f, \u043f\u043e\u044d\u0442\u043e\u043c\u0443 \u043c\u044b \u043e\u0442\u0441\u0435\u043a\u0430\u0435\u043c \u0446\u0435\u043b\u0435\u0432\u0443\u044e \u0444\u0443\u043d\u043a\u0446\u0438\u044e.  \u0415\u0441\u043b\u0438 \u0432 \u043d\u043e\u0432\u043e\u0439 \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0435 \u044d\u0442\u043e \u0433\u043e\u0440\u0430\u0437\u0434\u043e \u043c\u0435\u043d\u0435\u0435 \u0432\u0435\u0440\u043e\u044f\u0442\u043d\u043e, \u0447\u0435\u043c \u0432 \u0441\u0442\u0430\u0440\u043e\u0439, \u0446\u0435\u043b\u0435\u0432\u043e\u0435 \u0434\u0435\u0439\u0441\u0442\u0432\u0438\u0435 \u0441\u0433\u043b\u0430\u0436\u0438\u0432\u0430\u0435\u0442\u0441\u044f, \u0447\u0442\u043e\u0431\u044b \u043d\u0435 \u0434\u043e\u043f\u0443\u0441\u0442\u0438\u0442\u044c \u043f\u043e\u0432\u0442\u043e\u0440\u043d\u043e\u0433\u043e \u043f\u0435\u0440\u0435\u0443\u0442\u043e\u043c\u043b\u0435\u043d\u0438\u044f \u0441 \u043e\u0431\u043d\u043e\u0432\u043b\u0435\u043d\u0438\u0435\u043c.<\/p>\n<p>\u042d\u0442\u043e \u043c\u043e\u0436\u0435\u0442 \u0431\u044b\u0442\u044c \u0442\u043e\u043b\u044c\u043a\u043e \u044f, \u043d\u043e \u044f \u0434\u0443\u043c\u0430\u044e, \u0447\u0442\u043e \u043d\u0435 \u0432\u0441\u0442\u0440\u0435\u0447\u0430\u043b \u0431\u043e\u043b\u0435\u0435 \u043f\u0440\u043e\u0441\u0442\u043e\u0433\u043e \u0438 \u0447\u0438\u0441\u0442\u043e\u0433\u043e \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c\u0430 \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u044f \u0441 \u043f\u043e\u0434\u043a\u0440\u0435\u043f\u043b\u0435\u043d\u0438\u0435\u043c.<\/p>\n<p>\u0415\u0441\u043b\u0438 \u0432\u044b \u0445\u043e\u0442\u0438\u0442\u0435 \u043f\u043e\u043f\u0430\u0441\u0442\u044c \u0432 \u043a\u0440\u043e\u043b\u0438\u0447\u044c\u044e \u043d\u043e\u0440\u0443, \u043e\u0437\u043d\u0430\u043a\u043e\u043c\u044c\u0442\u0435\u0441\u044c \u0441 \u0431\u0430\u0437\u043e\u0432\u044b\u043c \u043a\u043e\u0434\u043e\u043c \u043e\u0442 OpenAI, \u043a\u043e\u0442\u043e\u0440\u044b\u0439 \u0434\u0430\u0441\u0442 \u0432\u0430\u043c \u043a\u0440\u0438\u0441\u0442\u0430\u043b\u044c\u043d\u043e \u0447\u0438\u0441\u0442\u043e\u0435 \u0438\u0437\u043e\u0431\u0440\u0430\u0436\u0435\u043d\u0438\u0435 \u0432\u0441\u0435\u0433\u043e \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c\u0430 \u0438 \u0440\u0435\u0448\u0438\u0442 \u0432\u0441\u0435 \u0432\u0430\u0448\u0438 \u0432\u043e\u043f\u0440\u043e\u0441\u044b.  \u041a\u043e\u043d\u0435\u0447\u043d\u043e, \u0431\u0443\u0434\u0435\u0442 \u043d\u0430\u043c\u043d\u043e\u0433\u043e \u043b\u0443\u0447\u0448\u0435, \u0435\u0441\u043b\u0438 \u0432\u044b \u043f\u043e\u043f\u044b\u0442\u0430\u0435\u0442\u0435\u0441\u044c \u0440\u0435\u0430\u043b\u0438\u0437\u043e\u0432\u0430\u0442\u044c \u044d\u0442\u043e \u0441 \u043d\u0443\u043b\u044f \u0441\u0430\u043c\u043e\u0441\u0442\u043e\u044f\u0442\u0435\u043b\u044c\u043d\u043e.  \u042d\u0442\u043e \u043d\u0435 \u0441\u0430\u043c\u0430\u044f \u043f\u0440\u043e\u0441\u0442\u0430\u044f \u0437\u0430\u0434\u0430\u0447\u0430, \u043d\u043e \u043f\u043e\u0447\u0435\u043c\u0443 \u0431\u044b \u0438 \u043d\u0435\u0442.<\/p>\n<p>\u041a\u0440\u043e\u043c\u0435 \u0442\u043e\u0433\u043e, \u0434\u043b\u044f \u043f\u043e\u043b\u043d\u043e\u0433\u043e, \u0432\u0441\u0435 \u0432 \u043e\u0434\u043d\u043e\u043c \u043a\u0443\u0440\u0441\u0435 \u0433\u043b\u0443\u0431\u043e\u043a\u043e\u0433\u043e \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u044f \u0441 \u043f\u043e\u0434\u043a\u0440\u0435\u043f\u043b\u0435\u043d\u0438\u0435\u043c, Udemy Advanced AI: Deep Reinforcement Learning Course in Python \u0438 \u0435\u0433\u043e \u043f\u0440\u0435\u0435\u043c\u043d\u0438\u043a The Cutting-Edge AI: Deep Reinforcement Learning in Python \u044f\u0432\u043b\u044f\u044e\u0442\u0441\u044f \u043b\u0443\u0447\u0448\u0438\u043c\u0438 \u043d\u0430 \u0440\u044b\u043d\u043a\u0435.<\/p>\n<p>\u042f \u0434\u0443\u043c\u0430\u044e, \u0447\u0442\u043e \u044d\u0442\u043e \u0432\u0441\u0435 \u043d\u0430 \u0434\u0430\u043d\u043d\u044b\u0439 \u043c\u043e\u043c\u0435\u043d\u0442.  \u041f\u0440\u043e\u0434\u043e\u043b\u0436\u0430\u0439 \u0443\u0447\u0438\u0442\u044c\u0441\u044f\u2026<\/p>\n<div class=\"dl-prod-book-inline-banner\">\n<div class=\"dl-prod-book-inline-banner__image gatsby-image-wrapper\" style=\"position:relative;overflow:hidden\"><img decoding=\"async\" aria-hidden=\"true\" src=\"data:image\/png;base64,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\" alt=\"\u041a\u043d\u0438\u0433\u0430 \u00ab\u0413\u043b\u0443\u0431\u043e\u043a\u043e\u0435 \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u0435 \u0432 \u043f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u0441\u0442\u0432\u0435\u00bb\" style=\"position:absolute;top:0;left:0;width:100%;height:100%;object-fit:contain;object-position:center;opacity:1;transition-delay:500ms\"\/><noscript><picture><source srcset=\"https:\/\/theaisummer.com\/static\/502e7c498dd9d981ac44c1dcd10f9276\/69585\/deep-learning-book-cover.png 200w,&#10;https:\/\/theaisummer.com\/static\/502e7c498dd9d981ac44c1dcd10f9276\/497c6\/deep-learning-book-cover.png 400w,&#10;https:\/\/theaisummer.com\/static\/502e7c498dd9d981ac44c1dcd10f9276\/3c17d\/deep-learning-book-cover.png 720w\" sizes=\"(max-width: 720px) 100vw, 720px\"\/><img decoding=\"async\" loading=\"lazy\" sizes=\"(max-width: 720px) 100vw, 720px\" srcset=\"https:\/\/theaisummer.com\/static\/502e7c498dd9d981ac44c1dcd10f9276\/69585\/deep-learning-book-cover.png 200w,&#10;https:\/\/theaisummer.com\/static\/502e7c498dd9d981ac44c1dcd10f9276\/497c6\/deep-learning-book-cover.png 400w,&#10;https:\/\/theaisummer.com\/static\/502e7c498dd9d981ac44c1dcd10f9276\/3c17d\/deep-learning-book-cover.png 720w\" src=\"https:\/\/theaisummer.com\/static\/502e7c498dd9d981ac44c1dcd10f9276\/3c17d\/deep-learning-book-cover.png\" alt=\"\u041a\u043d\u0438\u0433\u0430 \u00ab\u0413\u043b\u0443\u0431\u043e\u043a\u043e\u0435 \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u0435 \u0432 \u043f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u0441\u0442\u0432\u0435\u00bb\" style=\"position:absolute;top:0;left:0;opacity:1;width:100%;height:100%;object-fit:cover;object-position:center\"\/><\/picture><\/noscript><\/div>\n<div class=\"dl-prod-book-inline-banner__text\">\n<h2>\u041a\u043d\u0438\u0433\u0430 \u00ab\u0413\u043b\u0443\u0431\u043e\u043a\u043e\u0435 \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u0435 \u0432 \u043f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u0441\u0442\u0432\u0435\u00bb \ud83d\udcd6<\/h2>\n<h4>\u0423\u0437\u043d\u0430\u0439\u0442\u0435, \u043a\u0430\u043a \u0441\u043e\u0437\u0434\u0430\u0432\u0430\u0442\u044c, \u043e\u0431\u0443\u0447\u0430\u0442\u044c, \u0440\u0430\u0437\u0432\u0435\u0440\u0442\u044b\u0432\u0430\u0442\u044c, \u043c\u0430\u0441\u0448\u0442\u0430\u0431\u0438\u0440\u043e\u0432\u0430\u0442\u044c \u0438 \u043f\u043e\u0434\u0434\u0435\u0440\u0436\u0438\u0432\u0430\u0442\u044c \u043c\u043e\u0434\u0435\u043b\u0438 \u0433\u043b\u0443\u0431\u043e\u043a\u043e\u0433\u043e \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u044f.  \u0418\u0437\u0443\u0447\u0438\u0442\u0435 \u0438\u043d\u0444\u0440\u0430\u0441\u0442\u0440\u0443\u043a\u0442\u0443\u0440\u0443 \u043c\u0430\u0448\u0438\u043d\u043d\u043e\u0433\u043e \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u044f \u0438 MLOps \u043d\u0430 \u043f\u0440\u0430\u043a\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0445 \u043f\u0440\u0438\u043c\u0435\u0440\u0430\u0445.<\/h4>\n<p>\u0423\u0437\u043d\u0430\u0442\u044c \u0431\u043e\u043b\u044c\u0448\u0435<\/p><\/div>\n<\/div>\n<p><em class=\"affiliate-disclosure\">* \u0420\u0430\u0441\u043a\u0440\u044b\u0442\u0438\u0435 \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u0438: \u041e\u0431\u0440\u0430\u0442\u0438\u0442\u0435 \u0432\u043d\u0438\u043c\u0430\u043d\u0438\u0435, \u0447\u0442\u043e \u043d\u0435\u043a\u043e\u0442\u043e\u0440\u044b\u0435 \u0438\u0437 \u043f\u0440\u0438\u0432\u0435\u0434\u0435\u043d\u043d\u044b\u0445 \u0432\u044b\u0448\u0435 \u0441\u0441\u044b\u043b\u043e\u043a \u043c\u043e\u0433\u0443\u0442 \u0431\u044b\u0442\u044c \u043f\u0430\u0440\u0442\u043d\u0435\u0440\u0441\u043a\u0438\u043c\u0438 \u0441\u0441\u044b\u043b\u043a\u0430\u043c\u0438, \u0438 \u043c\u044b \u0431\u0435\u0437 \u0434\u043e\u043f\u043e\u043b\u043d\u0438\u0442\u0435\u043b\u044c\u043d\u044b\u0445 \u0437\u0430\u0442\u0440\u0430\u0442 \u0434\u043b\u044f \u0432\u0430\u0441 \u043f\u043e\u043b\u0443\u0447\u0438\u043c \u043a\u043e\u043c\u0438\u0441\u0441\u0438\u044e, \u0435\u0441\u043b\u0438 \u0432\u044b \u0440\u0435\u0448\u0438\u0442\u0435 \u0441\u043e\u0432\u0435\u0440\u0448\u0438\u0442\u044c \u043f\u043e\u043a\u0443\u043f\u043a\u0443 \u043f\u043e\u0441\u043b\u0435 \u043f\u0435\u0440\u0435\u0445\u043e\u0434\u0430 \u043f\u043e \u0441\u0441\u044b\u043b\u043a\u0435.<\/em><\/p>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u0414\u043e\u0431\u0440\u043e \u043f\u043e\u0436\u0430\u043b\u043e\u0432\u0430\u0442\u044c \u0432 \u0435\u0449\u0435 \u043e\u0434\u043d\u043e \u043f\u0443\u0442\u0435\u0448\u0435\u0441\u0442\u0432\u0438\u0435 \u043f\u043e \u0440\u0430\u0441\u043a\u0440\u044b\u0442\u0438\u044e \u0441\u0435\u043a\u0440\u0435\u0442\u043e\u0432 \u043e\u0431\u0443\u0447\u0435\u043d\u0438\u044f \u0441 \u043f\u043e\u0434\u043a\u0440\u0435\u043f\u043b\u0435\u043d\u0438\u0435\u043c. \u041d\u0430 \u044d\u0442\u043e\u0442 \u0440\u0430\u0437 \u043c\u044b \u0441\u043e\u0431\u0438\u0440\u0430\u0435\u043c\u0441\u044f \u0441\u0434\u0435\u043b\u0430\u0442\u044c \u0448\u0430\u0433 \u043d\u0430\u0437\u0430\u0434 \u0438 \u0432\u0435\u0440\u043d\u0443\u0442\u044c\u0441\u044f \u043a \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438 \u043f\u043e\u043b\u0438\u0442\u0438\u043a, \u0447\u0442\u043e\u0431\u044b \u043f\u0440\u0435\u0434\u0441\u0442\u0430\u0432\u0438\u0442\u044c \u0434\u0432\u0430 \u043d\u043e\u0432\u044b\u0445 \u043c\u0435\u0442\u043e\u0434\u0430: \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u044f \u043f\u043e\u043b\u0438\u0442\u0438\u043a \u0434\u043e\u0432\u0435\u0440\u0438\u0442\u0435\u043b\u044c\u043d\u043e\u0433\u043e \u0440\u0435\u0433\u0438\u043e\u043d\u0430 (TRPO) \u0438 \u043f\u0440\u043e\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u0430\u044f \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u044f \u043f\u043e\u043b\u0438\u0442\u0438\u043a (PPO). \u041f\u043e\u043c\u043d\u0438\u0442\u0435, \u0447\u0442\u043e \u0432 \u043c\u0435\u0442\u043e\u0434\u0430\u0445 \u0433\u0440\u0430\u0434\u0438\u0435\u043d\u0442\u043e\u0432 \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438 \u043c\u044b \u043f\u044b\u0442\u0430\u0435\u043c\u0441\u044f \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0438\u0440\u043e\u0432\u0430\u0442\u044c \u0446\u0435\u043b\u0435\u0432\u0443\u044e \u0444\u0443\u043d\u043a\u0446\u0438\u044e \u043f\u043e\u043b\u0438\u0442\u0438\u043a\u0438 (\u043e\u0436\u0438\u0434\u0430\u0435\u043c\u043e\u0435 \u043d\u0430\u043a\u043e\u043f\u0438\u0442\u0435\u043b\u044c\u043d\u043e\u0435 \u0432\u043e\u0437\u043d\u0430\u0433\u0440\u0430\u0436\u0434\u0435\u043d\u0438\u0435), [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1561,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1560","post","type-post","status-publish","format-standard","has-post-thumbnail","category-ai-research-and-news"],"_links":{"self":[{"href":"https:\/\/gptmain.news\/index.php?rest_route=\/wp\/v2\/posts\/1560","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/gptmain.news\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/gptmain.news\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/gptmain.news\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/gptmain.news\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1560"}],"version-history":[{"count":0,"href":"https:\/\/gptmain.news\/index.php?rest_route=\/wp\/v2\/posts\/1560\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/gptmain.news\/index.php?rest_route=\/wp\/v2\/media\/1561"}],"wp:attachment":[{"href":"https:\/\/gptmain.news\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1560"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/gptmain.news\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1560"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/gptmain.news\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1560"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}