A vision-guided parallel parking system for a mobile robot using approximate policy iteration

Reinforcement Learning (RL) methods enable autonomous robots to learn skills from scratch by interacting with the environment. However, reinforcement learning can be very time consuming. This paper focuses on accelerating the reinforcement learning process on a mobile robot in an unknown environment. The presented algorithm is based on approximate policy iteration with a continuous state space and a fixed number of actions. The action-value function is represented by a weighted combination of basis functions. Furthermore, a complexity analysis is provided to show that the implemented approach is guaranteed to converge on an optimal policy with less computational time. A parallel parking task is selected for testing purposes. In the experiments, the efficiency of the proposed approach is demonstrated and analyzed through a set of simulated and real robot experiments, with comparison drawn from two well known algorithms (Dyna-Q and Q-learning)

Funnel-based Reward Shaping for Signal Temporal Logic Tasks in Reinforcement Learning

Signal Temporal Logic (STL) is a powerful framework for describing the complex temporal and logical behaviour of the dynamical system. Numerous studies have attempted to employ reinforcement learning to learn a controller that enforces STL specifications; however, they have been unable to effectively tackle the challenges of ensuring robust satisfaction in continuous state space and maintaining tractability. In this paper, leveraging the concept of funnel functions, we propose a tractable reinforcement learning algorithm to learn a time-dependent policy for robust satisfaction of STL specification in continuous state space. We demonstrate the utility of our approach on several STL tasks using different environments.Comment: 8 pages, 10 figure

Action valuation of on- and off-ball soccer players based on multi-agent deep reinforcement learning

Analysis of invasive sports such as soccer is challenging because the game situation changes continuously in time and space, and multiple agents individually recognize the game situation and make decisions. Previous studies using deep reinforcement learning have often considered teams as a single agent and valued the teams and players who hold the ball in each discrete event. Then it was challenging to value the actions of multiple players, including players far from the ball, in a spatiotemporally continuous state space. In this paper, we propose a method of valuing possible actions for on- and off-ball soccer players in a single holistic framework based on multi-agent deep reinforcement learning. We consider a discrete action space in a continuous state space that mimics that of Google research football and leverages supervised learning for actions in reinforcement learning. In the experiment, we analyzed the relationships with conventional indicators, season goals, and game ratings by experts, and showed the effectiveness of the proposed method. Our approach can assess how multiple players move continuously throughout the game, which is difficult to be discretized or labeled but vital for teamwork, scouting, and fan engagement.Comment: 12 pages, 4 figure

REinforcement learning based Adaptive samPling: REAPing Rewards by Exploring Protein Conformational Landscapes

One of the key limitations of Molecular Dynamics simulations is the computational intractability of sampling protein conformational landscapes associated with either large system size or long timescales. To overcome this bottleneck, we present the REinforcement learning based Adaptive samPling (REAP) algorithm that aims to efficiently sample conformational space by learning the relative importance of each reaction coordinate as it samples the landscape. To achieve this, the algorithm uses concepts from the field of reinforcement learning, a subset of machine learning, which rewards sampling along important degrees of freedom and disregards others that do not facilitate exploration or exploitation. We demonstrate the effectiveness of REAP by comparing the sampling to long continuous MD simulations and least-counts adaptive sampling on two model landscapes (L-shaped and circular), and realistic systems such as alanine dipeptide and Src kinase. In all four systems, the REAP algorithm consistently demonstrates its ability to explore conformational space faster than the other two methods when comparing the expected values of the landscape discovered for a given amount of time. The key advantage of REAP is on-the-fly estimation of the importance of collective variables, which makes it particularly useful for systems with limited structural information

Optimal Reinforcement Learning for Gaussian Systems

The exploration-exploitation trade-off is among the central challenges of reinforcement learning. The optimal Bayesian solution is intractable in general. This paper studies to what extent analytic statements about optimal learning are possible if all beliefs are Gaussian processes. A first order approximation of learning of both loss and dynamics, for nonlinear, time-varying systems in continuous time and space, subject to a relatively weak restriction on the dynamics, is described by an infinite-dimensional partial differential equation. An approximate finite-dimensional projection gives an impression for how this result may be helpful.Comment: final pre-conference version of this NIPS 2011 paper. Once again, please note some nontrivial changes to exposition and interpretation of the results, in particular in Equation (9) and Eqs. 11-14. The algorithm and results have remained the same, but their theoretical interpretation has change