FPGA Accelerator Architecture for Q-learning and its Applications in Space Exploration Rovers

abstract: Achieving human level intelligence is a long-term goal for many Artificial Intelligence (AI) researchers. Recent developments in combining deep learning and reinforcement learning helped us to move a step forward in achieving this goal. Reinforcement learning using a delayed reward mechanism is an approach to machine intelligence which studies decision making with control and how a decision making agent can learn to act optimally in an environment-unaware conditions. Q-learning is one of the model-free reinforcement directed learning strategies which uses temporal differences to estimate the performances of state-action pairs called Q values. A simple implementation of Q-learning algorithm can be done using a Q table memory to store and update the Q values. However, with an increase in state space data due to a complex environment, and with an increase in possible number of actions an agent can perform, Q table reaches its space limit and would be difficult to scale well. Q-learning with neural networks eliminates the use of Q table by approximating the Q function using neural networks. Autonomous agents need to develop cognitive properties and become self-adaptive to be deployable in any environment. Reinforcement learning with Q-learning have been very efficient in solving such problems. However, embedded systems like space rovers and autonomous robots rarely implement such techniques due to the constraints faced like processing power, chip area, convergence rate and cost of the chip. These problems present a need for a portable, low power, area efficient hardware accelerator to accelerate the process of such learning. This problem is targeted by implementing a hardware schematic architecture for Q-learning using Artificial Neural networks. This architecture exploits the massive parallelism provided by neural network with a dedicated fine grain parallelism provided by a Field Programmable Gate Array (FPGA) thereby processing the Q values at a high throughput. Mars exploration rovers currently use Xilinx-Space-grade FPGA devices for image processing, pyrotechnic operation control and obstacle avoidance. The hardware resource consumption for the architecture has been synthesized considering Xilinx Virtex7 FPGA as the target device.Dissertation/ThesisMasters Thesis Engineering 201