Reinforcement Learning in the Task of Spherical Robot Motion Control

Abstract

The output control algorithm is a pair of trained neural networks — actor and critic, where the actor-network is used to obtain the control torques applied to the robot wheel and the critic-network is only involved in the learning process. The results of the training are shown below, namely how the robot performs the motion along ten arbitrary trajectories, where the main quality functional is the average error magnitude over the trajectory length scale. The algorithm is implemented using the PyTorch machine learning library.