Computation Approaches for Continuous Reinforcement Learning Problems

Optimisation theory is at the heart of any control process, where we seek to control the behaviour of a system through a set of actions. Linear control problems have been extensively studied, and optimal control laws have been identified. But the world around us is highly non-linear and unpredictable. For these dynamic systems, which don’t possess the nice mathematical properties of the linear counterpart, the classic control theory breaks and other methods have to be employed. But nature thrives by optimising non-linear and over-complicated systems. Evolutionary Computing (EC) methods exploit nature’s way by imitating the evolution process and avoid to solve the control problem analytically. Reinforcement Learning (RL) from the other side regards the optimal control problem as a sequential one. In every discrete time step an action is applied. The transition of the system to a new state is accompanied by a sole numerical value, the “reward” that designate the quality of the control action. Even though the amount of feedback information is limited into a sole real number, the introduction of the Temporal Difference method made possible to have accurate predictions of the value-functions. This paved the way to optimise complex structures, like the Neural Networks, which are used to approximate the value functions. In this thesis we investigate the solution of continuous Reinforcement Learning control problems by EC methodologies. The accumulated reward of such problems throughout an episode suffices as information to formulate the required measure, fitness, in order to optimise a population of candidate solutions. Especially, we explore the limits of applicability of a specific branch of EC, that of Genetic Programming (GP). The evolving population in the GP case is comprised from individuals, which are immediately translated to mathematical functions, which can serve as a control law. The major contribution of this thesis is the proposed unification of these disparate Artificial Intelligence paradigms. The provided information from the systems are exploited by a step by step basis from the RL part of the proposed scheme and by an episodic basis from GP. This makes possible to augment the function set of the GP scheme with adaptable Neural Networks. In the quest to achieve stable behaviour of the RL part of the system a modification of the Actor-Critic algorithm has been implemented. Finally we successfully apply the GP method in multi-action control problems extending the spectrum of the problems that this method has been proved to solve. Also we investigated the capability of GP in relation to problems from the food industry. These type of problems exhibit also non-linearity and there is no definite model describing its behaviour

Assessing the Effectiveness of Automated Emotion Recognition in Adults and Children for Clinical Investigation

Recent success stories in automated object or face recognition, partly fuelled by deep learning artificial neural network (ANN) architectures, has led to the advancement of biometric research platforms and, to some extent, the resurrection of Artificial Intelligence (AI). In line with this general trend, inter-disciplinary approaches have taken place to automate the recognition of emotions in adults or children for the benefit of various applications such as identification of children emotions prior to a clinical investigation. Within this context, it turns out that automating emotion recognition is far from being straight forward with several challenges arising for both science(e.g., methodology underpinned by psychology) and technology (e.g., iMotions biometric research platform). In this paper, we present a methodology, experiment and interesting findings, which raise the following research questions for the recognition of emotions and attention in humans: a) adequacy of well-established techniques such as the International Affective Picture System (IAPS), b) adequacy of state-of-the-art biometric research platforms, c) the extent to which emotional responses may be different among children or adults. Our findings and first attempts to answer some of these research questions, are all based on a mixed sample of adults and children, who took part in the experiment resulting into a statistical analysis of numerous variables. These are related with, both automatically and interactively, captured responses of participants to a sample of IAPS pictures

Genetic programming for generalised helicopter hovering control

We show how genetic programming can be applied to helicopter hovering control, a nonlinear high dimensional control problem which previously has been included in the literature in the set of benchmarks for the derivation of new intelligent controllers . The evolved controllers are compared with a neuroevolutionary approach which won the first position in the 2008 helicopter hovering reinforcement learning competition. GP performs similarly (and in some cases better) with the winner of the competition, even in the case where unknown wind is added to the dynamic system and control is based on structures evolved previously, i.e. the evolved controllers have good generalisation capability

Genetic programming as a solver to challenging reinforcement learning problems

This paper shows how genetic programming (an area under the umbrella of evolutionary computation) can be applied in two out of the six RL 2009 benchmark problems, such as the Acrobot and the Generalised Helicopter Hovering