This paper addresses a new method for combination of supervised learning and Reinforcement Learning (RL). Applying supervised learning in robot navigation encounters serious challenges such as inconsistent and noisy data, difficulty for gathering training data, and high error in training data. RL capabilities such as training only by one evaluation scalar signal, and high degree of exploration have encouraged researchers to use RL in robot navigation problem. However, RL algorithms are time consuming as well as suffer from high failure rate in the training phase. Here, we propose Supervised Fuzzy Sarsa Learning (SFSL) as a novel idea for utilizing advantages of both supervised and reinforcement learning algorithms. A zero order Takagi-Sugeno fuzzy controller with some candidate actions for each rule is considered as the main module of robot"s controller. The aim of training is to find the best action for each fuzzy rule. In the first step, a human supervisor drives an Epuck robot within the environment and the training data are gathered. In the second step as a hard tuning, the training data are used for initializing the value (worth) of each candidate action in the fuzzy rules. Afterwards, the fuzzy Sarsa learning module, as a critic-only based fuzzy reinforcement learner, fine tunes the parameters of conclusion parts of the fuzzy controller online. The proposed algorithm is used for driving E-puck robot in the environment with obstacles. The experiment results show that the proposed approach decreases the learning time and the number of failures; also it improves the quality of the robot"s motion in the testing environments.
Graph neural network (GNN) is an emerging field of research that tries to generalize deep learning architectures to work with non-Euclidean data. Nowadays, combining deep reinforcement learning (DRL) with GNN for graph-structured problems, especially in multi-agent environments, is a powerful technique in modern deep learning. From the computational point of view, multi-agent environments are inherently complex, because future rewards depend on the joint actions of multiple agents. This chapter tries to examine different types of applying GNN and DRL techniques in the most common representations of multi-agent problems and their challenges. In general, the fusion of GNN and DRL can be addressed from two different points of view. First, GNN is used to influence the DRL performance and improve its formulation. Here, GNN is applied in relational DRL structures such as multi-agent and multi-task DRL. Second, DRL is used to improve the application of GNN. From this viewpoint, DRL can be used for a variety of purposes including neural architecture search and improving the explanatory power of GNN predictions.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.