Exploring Restart Distributions

We consider the generic approach of using an experience memory to help exploration by adapting a restart distribution. That is, given the capacity to reset the state with those corresponding to the agent's past observations, we help exploration by promoting faster state-space coverage via restarting the agent from a more diverse set of initial states, as well as allowing it to restart in states associated with significant past experiences. This approach is compatible with both on-policy and off-policy methods. However, a caveat is that altering the distribution of initial states could change the optimal policies when searching within a restricted class of policies. To reduce this unsought learning bias, we evaluate our approach in deep reinforcement learning which benefits from the high representational capacity of deep neural networks. We instantiate three variants of our approach, each inspired by an idea in the context of experience replay. Using these variants, we show that performance gains can be achieved, especially in hard exploration problems.Comment: RLDM 201

Scalable Multiuser Immersive Communications with Multi-numerology and Mini-slot

This paper studies multiuser immersive communications networks in which different user equipment may demand various extended reality (XR) services. In such heterogeneous networks, time-frequency resource allocation needs to be more adaptive since XR services are usually multi-modal and latency-sensitive. To this end, we develop a scalable time-frequency resource allocation method based on multi-numerology and mini-slot. To appropriately determining the discrete parameters of multi-numerology and mini-slot for multiuser immersive communications, the proposed method first presents a novel flexible time-frequency resource block configuration, then it leverages the deep reinforcement learning to maximize the total quality-of-experience (QoE) under different users' QoE constraints. The results confirm the efficiency and scalability of the proposed time-frequency resource allocation method

Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning

Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and offset foot positions produced by trajectory generators. Both approaches typically require careful reward shaping and training for millions of time steps, and with trajectory generators introduce human bias into the resulting control policies. In this paper, we instead explore learning foot positions in Cartesian space, which we track with impedance control, for a task of running as fast as possible subject to environmental disturbances. Compared with other action spaces, we observe less needed reward shaping, much improved sample efficiency, the emergence of natural gaits such as galloping and bounding, and ease of sim-to-sim transfer. Policies can be learned in only a few million time steps, even for challenging tasks of running over rough terrain with loads of over 100% of the nominal quadruped mass. Training occurs in PyBullet, and we perform a sim-to-sim transfer to Gazebo, where our quadruped is able to run at over 4 m/s without a load, and 3.5 m/s with a 10 kg load, which is over 83% of the nominal quadruped mass. Video results can be found at https://youtu.be/roE1vxpEWfw.Comment: arXiv admin note: text overlap with arXiv:2011.0708

Learning natural locomotion behaviors for humanoid robots using human bias

This paper presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomotion that is natural, dynamic, and robust for humanoids. We proposed novel approaches to introduce human bias, i.e. motion capture data and a special Multi-Expert network structure. We used the Multi-Expert network structure to smoothly blend behavioral features, and used the augmented reward design for the task and imitation rewards. Our reward design is composable, tunable, and explainable by using fundamental concepts from conventional humanoid control. We rigorously validated and benchmarked the learning framework which consistently produced robust locomotion behaviors in various test scenarios. Further, we demonstrated the capability of learning robust and versatile policies in the presence of disturbances, such as terrain irregularities and external pushes.Comment: university polic