Combining Subgoal Graphs with Reinforcement Learning to Build a Rational Pathfinder

In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1) efficient path planning to eliminate first-move lags; (2) collision-free and smooth for agents with kinematic constraints satisfied. SG-RL works in a two-level manner. At the first level, SG-RL uses a geometric path-planning method, i.e., Simple Subgoal Graphs (SSG), to efficiently find optimal abstract paths, also called subgoal sequences. At the second level, SG-RL uses an RL method, i.e., Least-Squares Policy Iteration (LSPI), to learn near-optimal motion-planning policies which can generate kinematically feasible and collision-free trajectories between adjacent subgoals. The first advantage of the proposed method is that SSG can solve the limitations of sparse reward and local minima trap for RL agents; thus, LSPI can be used to generate paths in complex environments. The second advantage is that, when the environment changes slightly (i.e., unexpected obstacles appearing), SG-RL does not need to reconstruct subgoal graphs and replan subgoal sequences using SSG, since LSPI can deal with uncertainties by exploiting its generalization ability to handle changes in environments. Simulation experiments in representative scenarios demonstrate that, compared with existing methods, SG-RL can work well on large-scale maps with relatively low action-switching frequencies and shorter path lengths, and SG-RL can deal with small changes in environments. We further demonstrate that the design of reward functions and the types of training environments are important factors for learning feasible policies.Comment: 20 page

Game-theoretical control with continuous action sets

Motivated by the recent applications of game-theoretical learning techniques to the design of distributed control systems, we study a class of control problems that can be formulated as potential games with continuous action sets, and we propose an actor-critic reinforcement learning algorithm that provably converges to equilibrium in this class of problems. The method employed is to analyse the learning process under study through a mean-field dynamical system that evolves in an infinite-dimensional function space (the space of probability distributions over the players' continuous controls). To do so, we extend the theory of finite-dimensional two-timescale stochastic approximation to an infinite-dimensional, Banach space setting, and we prove that the continuous dynamics of the process converge to equilibrium in the case of potential games. These results combine to give a provably-convergent learning algorithm in which players do not need to keep track of the controls selected by the other agents.Comment: 19 page

Reinforcement Learning in Different Phases of Quantum Control

The ability to prepare a physical system in a desired quantum state is central to many areas of physics such as nuclear magnetic resonance, cold atoms, and quantum computing. Yet, preparing states quickly and with high fidelity remains a formidable challenge. In this work we implement cutting-edge Reinforcement Learning (RL) techniques and show that their performance is comparable to optimal control methods in the task of finding short, high-fidelity driving protocol from an initial to a target state in non-integrable many-body quantum systems of interacting qubits. RL methods learn about the underlying physical system solely through a single scalar reward (the fidelity of the resulting state) calculated from numerical simulations of the physical system. We further show that quantum state manipulation, viewed as an optimization problem, exhibits a spin-glass-like phase transition in the space of protocols as a function of the protocol duration. Our RL-aided approach helps identify variational protocols with nearly optimal fidelity, even in the glassy phase, where optimal state manipulation is exponentially hard. This study highlights the potential usefulness of RL for applications in out-of-equilibrium quantum physics.Comment: A legend for the videos referred to in the paper is available on https://mgbukov.github.io/RL_movies

Manifold Representations for Continuous-State Reinforcement Learning

Reinforcement learning (RL) has shown itself to be an effective paradigm for solving optimal control problems with a finite number of states. Generalizing RL techniques to problems with a continuous state space has proven a difficult task. We present an approach to modeling the RL value function using a manifold representation. By explicitly modeling the topology of the value function domain, traditional problems with discontinuities and resolution can be addressed without resorting to complex function approximators. We describe how manifold techniques can be applied to value-function approximation, and present methods for constructing manifold representations in both batch and online settings. We present empirical results demonstrating the effectiveness of our approach

Reinforcement Learning: A Survey

This paper surveys the field of reinforcement learning from a computer-science perspective. It is written to be accessible to researchers familiar with machine learning. Both the historical basis of the field and a broad selection of current work are summarized. Reinforcement learning is the problem faced by an agent that learns behavior through trial-and-error interactions with a dynamic environment. The work described here has a resemblance to work in psychology, but differs considerably in the details and in the use of the word ``reinforcement.'' The paper discusses central issues of reinforcement learning, including trading off exploration and exploitation, establishing the foundations of the field via Markov decision theory, learning from delayed reinforcement, constructing empirical models to accelerate learning, making use of generalization and hierarchy, and coping with hidden state. It concludes with a survey of some implemented systems and an assessment of the practical utility of current methods for reinforcement learning.Comment: See http://www.jair.org/ for any accompanying file