7,790 research outputs found
Learning 3D Navigation Protocols on Touch Interfaces with Cooperative Multi-Agent Reinforcement Learning
Using touch devices to navigate in virtual 3D environments such as computer
assisted design (CAD) models or geographical information systems (GIS) is
inherently difficult for humans, as the 3D operations have to be performed by
the user on a 2D touch surface. This ill-posed problem is classically solved
with a fixed and handcrafted interaction protocol, which must be learned by the
user. We propose to automatically learn a new interaction protocol allowing to
map a 2D user input to 3D actions in virtual environments using reinforcement
learning (RL). A fundamental problem of RL methods is the vast amount of
interactions often required, which are difficult to come by when humans are
involved. To overcome this limitation, we make use of two collaborative agents.
The first agent models the human by learning to perform the 2D finger
trajectories. The second agent acts as the interaction protocol, interpreting
and translating to 3D operations the 2D finger trajectories from the first
agent. We restrict the learned 2D trajectories to be similar to a training set
of collected human gestures by first performing state representation learning,
prior to reinforcement learning. This state representation learning is
addressed by projecting the gestures into a latent space learned by a
variational auto encoder (VAE).Comment: 17 pages, 8 figures. Accepted at The European Conference on Machine
Learning and Principles and Practice of Knowledge Discovery in Databases 2019
(ECMLPKDD 2019
Arena: A General Evaluation Platform and Building Toolkit for Multi-Agent Intelligence
Learning agents that are not only capable of taking tests, but also
innovating is becoming a hot topic in AI. One of the most promising paths
towards this vision is multi-agent learning, where agents act as the
environment for each other, and improving each agent means proposing new
problems for others. However, existing evaluation platforms are either not
compatible with multi-agent settings, or limited to a specific game. That is,
there is not yet a general evaluation platform for research on multi-agent
intelligence. To this end, we introduce Arena, a general evaluation platform
for multi-agent intelligence with 35 games of diverse logics and
representations. Furthermore, multi-agent intelligence is still at the stage
where many problems remain unexplored. Therefore, we provide a building toolkit
for researchers to easily invent and build novel multi-agent problems from the
provided game set based on a GUI-configurable social tree and five basic
multi-agent reward schemes. Finally, we provide Python implementations of five
state-of-the-art deep multi-agent reinforcement learning baselines. Along with
the baseline implementations, we release a set of 100 best agents/teams that we
can train with different training schemes for each game, as the base for
evaluating agents with population performance. As such, the research community
can perform comparisons under a stable and uniform standard. All the
implementations and accompanied tutorials have been open-sourced for the
community at https://sites.google.com/view/arena-unity/
Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learning
Robots that navigate among pedestrians use collision avoidance algorithms to
enable safe and efficient operation. Recent works present deep reinforcement
learning as a framework to model the complex interactions and cooperation.
However, they are implemented using key assumptions about other agents'
behavior that deviate from reality as the number of agents in the environment
increases. This work extends our previous approach to develop an algorithm that
learns collision avoidance among a variety of types of dynamic agents without
assuming they follow any particular behavior rules. This work also introduces a
strategy using LSTM that enables the algorithm to use observations of an
arbitrary number of other agents, instead of previous methods that have a fixed
observation size. The proposed algorithm outperforms our previous approach in
simulation as the number of agents increases, and the algorithm is demonstrated
on a fully autonomous robotic vehicle traveling at human walking speed, without
the use of a 3D Lidar
Learning to Communicate: A Machine Learning Framework for Heterogeneous Multi-Agent Robotic Systems
We present a machine learning framework for multi-agent systems to learn both
the optimal policy for maximizing the rewards and the encoding of the high
dimensional visual observation. The encoding is useful for sharing local visual
observations with other agents under communication resource constraints. The
actor-encoder encodes the raw images and chooses an action based on local
observations and messages sent by the other agents. The machine learning agent
generates not only an actuator command to the physical device, but also a
communication message to the other agents. We formulate a reinforcement
learning problem, which extends the action space to consider the communication
action as well. The feasibility of the reinforcement learning framework is
demonstrated using a 3D simulation environment with two collaborating agents.
The environment provides realistic visual observations to be used and shared
between the two agents.Comment: AIAA SciTech 201
ViZDoom Competitions: Playing Doom from Pixels
This paper presents the first two editions of Visual Doom AI Competition,
held in 2016 and 2017. The challenge was to create bots that compete in a
multi-player deathmatch in a first-person shooter (FPS) game, Doom. The bots
had to make their decisions based solely on visual information, i.e., a raw
screen buffer. To play well, the bots needed to understand their surroundings,
navigate, explore, and handle the opponents at the same time. These aspects,
together with the competitive multi-agent aspect of the game, make the
competition a unique platform for evaluating the state of the art reinforcement
learning algorithms. The paper discusses the rules, solutions, results, and
statistics that give insight into the agents' behaviors. Best-performing agents
are described in more detail. The results of the competition lead to the
conclusion that, although reinforcement learning can produce capable Doom bots,
they still are not yet able to successfully compete against humans in this
game. The paper also revisits the ViZDoom environment, which is a flexible,
easy to use, and efficient 3D platform for research for vision-based
reinforcement learning, based on a well-recognized first-person perspective
game Doom
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