4 research outputs found
Enhancing reinforcement learning with a context-based approach
Reinforcement Learning (RL) has shown outstanding capabilities in solving complex
computational problems. However, most RL algorithms lack an explicit method
for learning from contextual information. In reality, humans rely on context to
identify patterns and relations among elements in the environment and determine
how to avoid making incorrect actions. Conversely, what may seem like obvious
poor decisions from a human perspective could take hundreds of steps for an agent
to learn how to avoid them. This thesis aims to investigate methods for incorporating
contextual information into RL in order to enhance learning performance.
The research follows an incremental approach in which, first, contextual information is incorporated into RL in simulated environments, more concisely in games.
The experiments show that all the algorithms which use contextual information significantly outperform the baseline algorithms by 77 % on average. Then, the concept
is validated with a hybrid approach that comprises a robot in a Human-Robot Interaction (HRI) scenario dealing with rigid objects. The robot learns in simulation
while executing actions in the real world. For this setup, based on contextual information, the proposed algorithm trains in a reduced amount of time (2.7 seconds).
It reaches an 84% success rate in a grasp and release-related task while interacting with a human user, while the baseline algorithm with the highest success rate
reached 68% after learning during a significantly longer period of time (91.8 seconds). Consequently, CQL suits the robotâs learning requirements in observing the
current scenario configuration and learning to solve it while dealing with dynamic
changes provoked by the user.
Additionally, the thesis explores using an RL framework that uses contextual information to learn how to manipulate bags in the real world. A bag is a deformable
object that presents challenges from grasping to planning, and RL has the potential
to address this issue. The learning process is accomplished through a new RL algorithm introduced in this work called Î -learning, designed to find the best grasping
points of the bag based on a set of compact state representations. The framework
utilises a set of primitive actions and represents the task in five states. In the experiments, the framework reaches a 60% and 80% success rate after around three
hours of training in the real world when starting the bagging task from folded and
unfolded positions, respectively. Finally, the trained model is tested on two more
bags of different sizes to evaluate its generalisation capacities.
Overall, this research seeks to contribute to the broader advancement of RL and
robotics, aiming to enhance the development of intelligent, autonomous systems that
can effectively operate in diverse and dynamic real-world settings. Besides that, this
research seeks to explore new possibilities for automation, HRI, and the utilisation of contextual information in RL