17,068 research outputs found
Lifelong Federated Reinforcement Learning: A Learning Architecture for Navigation in Cloud Robotic Systems
This paper was motivated by the problem of how to make robots fuse and
transfer their experience so that they can effectively use prior knowledge and
quickly adapt to new environments. To address the problem, we present a
learning architecture for navigation in cloud robotic systems: Lifelong
Federated Reinforcement Learning (LFRL). In the work, We propose a knowledge
fusion algorithm for upgrading a shared model deployed on the cloud. Then,
effective transfer learning methods in LFRL are introduced. LFRL is consistent
with human cognitive science and fits well in cloud robotic systems.
Experiments show that LFRL greatly improves the efficiency of reinforcement
learning for robot navigation. The cloud robotic system deployment also shows
that LFRL is capable of fusing prior knowledge. In addition, we release a cloud
robotic navigation-learning website based on LFRL
Modeling user navigation
This paper proposes the use of neural networks as a tool for studying navigation within virtual worlds. Results indicate that the network learned to predict the next step for a given trajectory. The analysis of hidden layer shows that the network was able to differentiate between two groups of users identified on the basis of their performance for a spatial task. Time series analysis of hidden node activation values and input vectors suggested that certain hidden units become specialised for place and heading, respectively. The benefits of this approach and the possibility of extending the methodology to the study of navigation in Human Computer Interaction applications are discussed
Towards Monocular Vision based Obstacle Avoidance through Deep Reinforcement Learning
Obstacle avoidance is a fundamental requirement for autonomous robots which
operate in, and interact with, the real world. When perception is limited to
monocular vision avoiding collision becomes significantly more challenging due
to the lack of 3D information. Conventional path planners for obstacle
avoidance require tuning a number of parameters and do not have the ability to
directly benefit from large datasets and continuous use. In this paper, a
dueling architecture based deep double-Q network (D3QN) is proposed for
obstacle avoidance, using only monocular RGB vision. Based on the dueling and
double-Q mechanisms, D3QN can efficiently learn how to avoid obstacles in a
simulator even with very noisy depth information predicted from RGB image.
Extensive experiments show that D3QN enables twofold acceleration on learning
compared with a normal deep Q network and the models trained solely in virtual
environments can be directly transferred to real robots, generalizing well to
various new environments with previously unseen dynamic objects.Comment: Accepted by RSS 2017 workshop New Frontiers for Deep Learning in
Robotic
Value Propagation Networks
We present Value Propagation (VProp), a set of parameter-efficient
differentiable planning modules built on Value Iteration which can successfully
be trained using reinforcement learning to solve unseen tasks, has the
capability to generalize to larger map sizes, and can learn to navigate in
dynamic environments. We show that the modules enable learning to plan when the
environment also includes stochastic elements, providing a cost-efficient
learning system to build low-level size-invariant planners for a variety of
interactive navigation problems. We evaluate on static and dynamic
configurations of MazeBase grid-worlds, with randomly generated environments of
several different sizes, and on a StarCraft navigation scenario, with more
complex dynamics, and pixels as input.Comment: Updated to match ICLR 2019 OpenReview's versio
Cloud Enabled Emergency Navigation Using Faster-than-real-time Simulation
State-of-the-art emergency navigation approaches are designed to evacuate
civilians during a disaster based on real-time decisions using a pre-defined
algorithm and live sensory data. Hence, casualties caused by the poor decisions
and guidance are only apparent at the end of the evacuation process and cannot
then be remedied. Previous research shows that the performance of routing
algorithms for evacuation purposes are sensitive to the initial distribution of
evacuees, the occupancy levels, the type of disaster and its as well its
locations. Thus an algorithm that performs well in one scenario may achieve bad
results in another scenario. This problem is especially serious in
heuristic-based routing algorithms for evacuees where results are affected by
the choice of certain parameters. Therefore, this paper proposes a
simulation-based evacuee routing algorithm that optimises evacuation by making
use of the high computational power of cloud servers. Rather than guiding
evacuees with a predetermined routing algorithm, a robust Cognitive Packet
Network based algorithm is first evaluated via a cloud-based simulator in a
faster-than-real-time manner, and any "simulated casualties" are then re-routed
using a variant of Dijkstra's algorithm to obtain new safe paths for them to
exits. This approach can be iterated as long as corrective action is still
possible.Comment: Submitted to PerNEM'15 for revie
Navite: A Neural Network System For Sensory-Based Robot Navigation
A neural network system, NAVITE, for incremental trajectory generation and obstacle avoidance is presented. Unlike other approaches, the system is effective in unstructured environments. Multimodal inforrnation from visual and range data is used for obstacle detection and to eliminate uncertainty in the measurements. Optimal paths are computed without explicitly optimizing cost functions, therefore reducing computational expenses. Simulations of a planar mobile robot (including the dynamic characteristics of the plant) in obstacle-free and object avoidance trajectories are presented. The system can be extended to incorporate global map information into the local decision-making process.Defense Advanced Research Projects Agency (AFOSR 90-0083); Office of Naval Research (N00014-92-J-l309); Consejo Nacional de Ciencia y TecnologÃa (63l462
- …