On the use of Deep Reinforcement Learning for Visual Tracking: a Survey

This paper aims at highlighting cutting-edge research results in the field of visual tracking by deep reinforcement learning. Deep reinforcement learning (DRL) is an emerging area combining recent progress in deep and reinforcement learning. It is showing interesting results in the computer vision field and, recently, it has been applied to the visual tracking problem yielding to the rapid development of novel tracking strategies. After providing an introduction to reinforcement learning, this paper compares recent visual tracking approaches based on deep reinforcement learning. Analysis of the state-of-the-art suggests that reinforcement learning allows modeling varying parts of the tracking system including target bounding box regression, appearance model selection, and tracking hyper-parameter optimization. The DRL framework is elegant and intriguing, and most of the DRL-based trackers achieve state-of-the-art results

Learning Unmanned Aerial Vehicle Control for Autonomous Target Following

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the trial-and-error learning process. However, real-world robotic applications often need a data-efficient learning process with safety-critical constraints. In this paper, we consider the challenging problem of learning unmanned aerial vehicle (UAV) control for tracking a moving target. To acquire a strategy that combines perception and control, we represent the policy by a convolutional neural network. We develop a hierarchical approach that combines a model-free policy gradient method with a conventional feedback proportional-integral-derivative (PID) controller to enable stable learning without catastrophic failure. The neural network is trained by a combination of supervised learning from raw images and reinforcement learning from games of self-play. We show that the proposed approach can learn a target following policy in a simulator efficiently and the learned behavior can be successfully transferred to the DJI quadrotor platform for real-world UAV control

Resource-aware task scheduling by an adversarial bandit solver method in wireless sensor networks

This article was published in the Eurasip Journal on Wireless Communications and Networking [©2016 Springer International Publishing.] and the definite version is available at: http://dx.doi.org/10.1186/s13638-015-0515-y. The article website is at: http://jwcn.eurasipjournals.springeropen.com/articles/10.1186/s13638-015-0515-yA wireless sensor network (WSN) is composed of a large number of tiny sensor nodes. Sensor nodes are very resource-constrained, since nodes are often battery-operated and energy is a scarce resource. In this paper, a resource-aware task scheduling (RATS) method is proposed with better performance/resource consumption trade-off in a WSN. Particularly, RATS exploits an adversarial bandit solver method called exponential weight for exploration and exploitation (Exp3) for target tracking application of WSN. The proposed RATS method is compared and evaluated with the existing scheduling methods exploiting online learning: distributed independent reinforcement learning (DIRL), reinforcement learning (RL), and cooperative reinforcement learning (CRL), in terms of the tracking quality/energy consumption trade-off in a target tracking application. The communication overhead and computational effort of these methods are also computed. Simulation results show that the proposed RATS outperforms the existing methods DIRL and RL in terms of achieved tracking performance. © 2016, Khan.Publishe