scholarly journals Feasibility Analysis and Application of Reinforcement Learning Algorithm Based on Dynamic Parameter Adjustment

Algorithms ◽  
2020 ◽  
Vol 13 (9) ◽  
pp. 239 ◽  
Author(s):  
Menglin Li ◽  
Xueqiang Gu ◽  
Chengyi Zeng ◽  
Yuan Feng
Keyword(s):  
Machine Learning ◽  
Reinforcement Learning ◽  
Learning Algorithm ◽  
Dynamic Parameter ◽  
Learning Rate ◽  
New Method ◽  
Practical Application ◽  
Learning Rates ◽  
Dynamic Parameter Adjustment ◽  
Reinforcement Learning Algorithm

Reinforcement learning, as a branch of machine learning, has been gradually applied in the control field. However, in the practical application of the algorithm, the hyperparametric approach to network settings for deep reinforcement learning still follows the empirical attempts of traditional machine learning (supervised learning and unsupervised learning). This method ignores part of the information generated by agents exploring the environment contained in the updating of the reinforcement learning value function, which will affect the performance of the convergence and cumulative return of reinforcement learning. The reinforcement learning algorithm based on dynamic parameter adjustment is a new method for setting learning rate parameters of deep reinforcement learning. Based on the traditional method of setting parameters for reinforcement learning, this method analyzes the advantages of different learning rates at different stages of reinforcement learning and dynamically adjusts the learning rates in combination with the temporal-difference (TD) error values to achieve the advantages of different learning rates in different stages to improve the rationality of the algorithm in practical application. At the same time, by combining the Robbins–Monro approximation algorithm and deep reinforcement learning algorithm, it is proved that the algorithm of dynamic regulation learning rate can theoretically meet the convergence requirements of the intelligent control algorithm. In the experiment, the effect of this method is analyzed through the continuous control scenario in the standard experimental environment of ”Car-on-The-Hill” of reinforcement learning, and it is verified that the new method can achieve better results than the traditional reinforcement learning in practical application. According to the model characteristics of the deep reinforcement learning, a more suitable setting method for the learning rate of the deep reinforcement learning network proposed. At the same time, the feasibility of the method has been proved both in theory and in the application. Therefore, the method of setting the learning rate parameter is worthy of further development and research.

scholarly journals Machine Learning Combinatorial Frameworks for Architecture

2021 ◽  
Vol 7 (2) ◽  
pp. 20-29
Author(s):  
Joshua Lye ◽  
Alisa Andrasek
Keyword(s):  
Machine Learning ◽  
Reinforcement Learning ◽  
Learning Algorithm ◽  
Imitation Learning ◽  
Learning Models ◽  
Learning Agent ◽  
Policy Optimization ◽  
Machine Learning Models ◽  
Reinforcement Learning Algorithm

This paper investigates the application of machine learning for the simulation of larger architectural aggregations formed through the recombination of discrete components. This is primarily explored through establishing hardcoded assembly and connection logics which are used to form the framework of architectural fitness conditions for machine learning models. The key machine learning models researched are a combination of the deep reinforcement learning algorithm proximal policy optimization (PPO) and Generative Adversarial Imitation Learning (GAIL) in the Unity Machine Learning Agent asset toolkit. The goal of applying these machine learning models is to train the agent behaviours (discrete components) to learn specific logics of connection. In order to achieve assembled architectural `states that allow for spatial habitation through the process of simulation.

scholarly journals A real-time HIL control system on rotary inverted pendulum hardware platform based on double deep Q-network

2021 ◽  
Vol 54 (3-4) ◽  
pp. 417-428
Author(s):  
Yanyan Dai ◽  
KiDong Lee ◽  
SukGyu Lee
Keyword(s):  
Control System ◽  
Reinforcement Learning ◽  
Inverted Pendulum ◽  
Learning Algorithm ◽  
Deep Understanding ◽  
Control Engineering ◽  
Experience Replay ◽  
Real Hardware ◽  
Rotary Inverted Pendulum ◽  
Reinforcement Learning Algorithm

For real applications, rotary inverted pendulum systems have been known as the basic model in nonlinear control systems. If researchers have no deep understanding of control, it is difficult to control a rotary inverted pendulum platform using classic control engineering models, as shown in section 2.1. Therefore, without classic control theory, this paper controls the platform by training and testing reinforcement learning algorithm. Many recent achievements in reinforcement learning (RL) have become possible, but there is a lack of research to quickly test high-frequency RL algorithms using real hardware environment. In this paper, we propose a real-time Hardware-in-the-loop (HIL) control system to train and test the deep reinforcement learning algorithm from simulation to real hardware implementation. The Double Deep Q-Network (DDQN) with prioritized experience replay reinforcement learning algorithm, without a deep understanding of classical control engineering, is used to implement the agent. For the real experiment, to swing up the rotary inverted pendulum and make the pendulum smoothly move, we define 21 actions to swing up and balance the pendulum. Comparing Deep Q-Network (DQN), the DDQN with prioritized experience replay algorithm removes the overestimate of Q value and decreases the training time. Finally, this paper shows the experiment results with comparisons of classic control theory and different reinforcement learning algorithms.

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