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We present a reinforcement learning approach using Deep Q-Networks to steer a vehicle in a 3D physics simulation. Relying solely on camera image input the approach directly learns steering the vehicle in an end-to-end manner. The system is able to learn human driving behavior without the need of any labeled training data. An action-based reward function is proposed, which is motivated by a potential...
Artificial intelligence (AI) agent created with Deep Q-Networks (DQN) can defeat human agents in video games. Despite its high performance, DQN often exhibits odd behaviors, which could be immersion-breaking against the purpose of creating game AI. Moreover, DQN is capable of reacting to the game environment much faster than humans, making itself invincible (thus not fun to play with) in certain types...
Obstacle avoidance is one of the most important problems in autonomous robots. This paper suggests a collision avoidance system using reinforcement learning. Hand-crafted features are used to approximate Q value. With off-line learning, we develop a general collision avoidance system and use this system to unknown environment. Simulation results show that our mobile robot agent using reinforcement...
Deep visual attention in computer vision has attracted much attention over the past years, which achieves great contributions especially in image classification, image caption and action recognition. However, due to taking BP training wholly or partially, they can not show the true power of attention in computational efficiency and focusing accuracy. Our intuition is that attention mechanism should...
Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new goals, and (2) data inefficiency, i.e., the model requires several (and often costly) episodes of trial and error to converge, which makes it impractical to be applied to real-world scenarios. In this paper, we address these two issues and apply our model to target-driven visual navigation. To...
Policy search can in principle acquire complex strategies for control of robots and other autonomous systems. When the policy is trained to process raw sensory inputs, such as images and depth maps, it can also acquire a strategy that combines perception and control. However, effectively processing such complex inputs requires an expressive policy class, such as a large neural network. These high-dimensional...
Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without extensive manual engineering. However, robotic skill learning must typically make trade-offs to enable practical real-world learning, such as requiring manually designed policy or value function representations, initialization from human demonstrations, instrumentation of the training...
Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of the learning process in favor of achieving training times that are practical for real physical systems. This typically involves introducing hand-engineered policy...
In the Fundamentals of Laparoscopic Surgery (FLS) standard medical training regimen, the Pattern Cutting task requires residents to demonstrate proficiency by maneuvering two tools, surgical scissors and tissue gripper, to accurately cut a circular pattern on surgical gauze suspended at the corners. Accuracy of cutting depends on tensioning, wherein the gripper pinches a point on the gauze in R3 and...
Standard deep reinforcement learning methods such as Deep Q-Networks (DQN) for multiple tasks (domains) face scalability problems due to large search spaces. This paper proposes a three-stage method for multi-domain dialogue policy learning-termed NDQN, and applies it to an information-seeking spoken dialogue system in the domains of restaurants and hotels. In this method, the first stage does multi-policy...
Neural networks are a powerful function approximation tool which has the ability to model any function with arbitrary precision. For any function as a black box, it is able to reconstruct the function given the target and the input data. However, there are problems where the target is at least partially unknown. In such cases it is impossible for a traditional neural network to compute the gradient...
Recent studies suggest that reinforcement learning has great potential for generating assistive strategies in exoskeletons through physical interactions between a user and a robot. Previous methods focused on a task-specific assistive strategy, where for every single task (situation/context), the user needs to interact with a robot to learn an appropriate assistive strategy. Therefore, the learned...
There has been a recent paradigm shift in robotics to data-driven learning for planning and control. Due to large number of experiences required for training, most of these approaches use a self-supervised paradigm: using sensors to measure success/failure. However, in most cases, these sensors provide weak supervision at best. In this work, we propose an adversarial learning framework that pits an...
Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep reinforcement learning to train general purpose neural network policies alleviates some of the burden of manual representation engineering by using expressive policy...
Due to its ability to learn complex behaviors in high-dimensional state-action spaces, deep reinforcement learning algorithms have attracted much interest in the robotics community. For a practical reinforcement learning implementation on a robot, it has to be provided with an informative reward signal that makes it easy to discriminate the values of nearby states. To address this issue, prior information,...
As business data and scientific data become larger and larger, the study of incremental learning algorithms becomes more and more important. Online sequential extreme learning machine (OS-ELM) algorithm is an incremental learning algorithm that can learn data one by one. On the basis of OS-ELM, an online sequential extreme learning machine incremental learning algorithm is proposed based on the λ1...
A reinforcement learning (RL) agent needs a fair amount of experience to find a near-optimal policy. Transfer learning has been investigated as a means to reduce the amount of experience required. Transfer learning, however, requires another similar reinforcement learning task as a transfer source, which can also be costly in the amount of experience required. In this research, we examine the possible...
Deep reinforcement learning is rapidly gaining attention due to recent successes in a variety of problems. The combination of deep learning and reinforcement learning allows for a generic learning process that does not consider specific knowledge of the task. However, learning from scratch becomes more difficult when tasks involve long trajectories with delayed rewards. The chances of finding the...
In this paper, we consider an optimization problem motivated by the International Aerial Robotics Competition (IARC) Mission-7, or the shepherd action. IARC Mission-7 requires an autonomous drone (i.e. the shepherd dog) to drive ground vehicle (sheep) across the green-line boundary of an competition arena of 20m × 20m within 10 mins. There are two actions, either top touch or collision to change the...
Autonomous Systems are systems situated in some environment and are able of taking decision autonomously. The environment is not precisely known at design-time and it might be full of unforeseeable events that the autonomous system has to deal with at run-time. This brings two main problems to be addressed. One is that the uncertainty of the environment makes it difficult to model all the behaviours...
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