Trust Region Policy Optimization Research Articles

Deep reinforcement learning for maintenance optimization of a scrap-based steel production line

This paper presents a Deep Reinforcement Learning (DRL)-based optimization approach for determining the optimal inspection and maintenance planning of a scrap-based steel production line. The DRL-based optimization maintenance recommends the adequate time for inspections and maintenance activities based on the monitoring conditions of the production line, such as machine productivity, buffer level, and production demand. Some practical aspects of the system, such as such uncertainty of the maintenance duration and the variable production rate of the machines, were considered. A scrap-based steel production line was modeled as a multi-component system considering components dependencies. A simulation model was developed to simulate the dynamics of the system and assist with the development of the DRL maintenance approach. The proposed DRL-based maintenance is compared with traditional maintenance policies, such reactive maintenance, time-based maintenance, and condition-based maintenance. In addition, different DRL algorithms such as PPO (Proximal Policy Optimization), TRPO (Trust Region Policy Optimization), and DQN (Deep Q-Network) are investigated in the case-based scenario. The findings indicated the potential for significant financial savings. Therefore, the proposed maintenance approach demonstrates system adaptability and has the potential to be a powerful tool for industrial competitiveness.

Evaluating the stealth of reinforcement learning-based cyber attacks against unknown scenarios using knowledge transfer techniques

Organizations are vulnerable to cyber attacks as they rely on computer networks and the internet for communication and data storage. While Reinforcement Learning (RL) is a widely used strategy to simulate and learn from these attacks, RL-guided offensives against unknown scenarios often lead to early exposure due to low stealth resulting from mistakes during the training phase. To address this issue, this work evaluates if the use of Knowledge Transfer Techniques (KTT), such as Transfer Learning and Imitation Learning, reduces the probability of early exposure by smoothing mistakes during training. This study developed a laboratory platform and a method to compare RL-based cyber attacks using KTT for unknown scenarios. The experiments simulated 2 unknown scenarios using 4 traditional RL algorithms and 4 KTT. In the results, although some algorithms using KTT obtained superior results, they were not so significant for stealth during the initial epochs of training. Nevertheless, experiments also revealed that throughout the entire learning cycle, Trust Region Policy Optimization (TRPO) is a promising algorithm for conducting cyber offensives based on Reinforcement Learning.

Trust region policy optimization via entropy regularization for Kullback–Leibler divergence constraint

Trust region policy optimization (TRPO) is one of the landmark policy optimization algorithms in deep reinforcement learning. Its purpose is to maximize a surrogate objective based on an advantage function, subject to the limited Kullback–Leibler (KL) divergence of two consecutive policies. Although there have been many successful applications of this algorithm in the literature, the approach has often been criticized for suppressing the exploration ability of some application environments due to its strict divergence constraint. As such, most researchers prefer to use entropy regularization, which is added to the expected discounted rewards or the surrogate objectives. That said, there is much debate about whether there might be an alternative strategy for regularizing TRPOs. In this paper, we present just that. Our strategy is to regularize the KL divergence-based constraint via Shannon entropy. This approach enlarges the difference between two consecutive policies and thus derives a new TRPO scheme with entropy regularization for use with KL divergence constraint. Next, the surrogate objective and Shannon entropy are approximated linearly, while the KL divergence is expanded quadratically. An efficient conjugate gradient optimization procedure then solves two sets of linear equations, providing a detailed code-level implementation that can be used for a fair experimental comparison. Extensive experiments within eight benchmark environments demonstrate that our proposed method is superior to both the original TRPO and the entropy regularized objective TRPO. Further, theoretical and experimental analysis shows that three TRPO-like methods have an equal time complexity and a close computational burden.

Deep reinforcement learning for dynamic distributed job shop scheduling problem with transfers

Dynamic events and transportation constraints would significantly affect the full utilization of resources and the reduction of production costs in distributed job shops. Therefore, in this paper, a deep reinforcement learning algorithm (DRL)-based real-time scheduling method is developed to minimize the mean tardiness of the dynamic distributed job shop scheduling problem with transfers (DDJSPT) considering random job arrivals. Firstly, the proposed DDJSPT is modeled as a Markov decision process (MDP). Then, ten problem-oriented state features covering four aspects of factories, machines, jobs, and operations are elaborately extracted from the dynamic distributed job shop. After that, eleven composite rules considering the uniqueness of DDJSPT are constructed as a pool of actions to intelligently prioritize unfinished jobs and allocate the selected job to an appropriate factory. Moreover, a justified reward function adapted from the objective is designed for better convergence of DRLs. Subsequently, five DRLs are employed to address the DDJSPT, encompassing deep Q-network (DQN), double DQN (DDQN), dueling DQN (DlDQN), trust region policy optimization (TRPO), and proximal policy optimization (PPO). Finally, grounded in numerical comparison experiments under 243 production configurations of the DDJSPT, the effectiveness and generalization of DRL-based scheduling methods are credibly verified and confirmed.

Delta robot control by learning systems: Harnessing the power of deep reinforcement learning algorithms

The present study focuses on the implementation of Deep Reinforcement Learning (Deep-RL) techniques for a parallel manipulator robot, specifically the Delta Robot, within a simulated setting. We introduced a simulation framework designed to guide the Delta Robot’s end-effector to a designated spatial point accurately. Within this environment, the robotic agent undergoes a learning process grounded in trial and error. It garners positive rewards for successful predictions regarding the next action and faces negative repercussions for inaccuracies. Through this iterative learning mechanism, the robot refines its strategies, thereby establishing improved decision-making rules based on the ever-evolving environment states. Our investigation delved into three distinct Deep-RL algorithms: the Deep Q-Network Algorithm (DQN), the Double Deep Q-Network (DDQN), and the Trust Region Policy Optimization Algorithm (TRPO). All three methodologies were adept at addressing the challenge presented, and a comprehensive discussion of the findings is encapsulated in the subsequent sections of the paper.

Multiagent Trust Region Policy Optimization.

We extend trust region policy optimization (TRPO) to cooperative multiagent reinforcement learning (MARL) for partially observable Markov games (POMGs). We show that the policy update rule in TRPO can be equivalently transformed into a distributed consensus optimization for networked agents when the agents' observation is sufficient. By using a local convexification and trust-region method, we propose a fully decentralized MARL algorithm based on a distributed alternating direction method of multipliers (ADMM). During training, agents only share local policy ratios with neighbors via a peer-to-peer communication network. Compared with traditional centralized training methods in MARL, the proposed algorithm does not need a control center to collect global information, such as global state, collective reward, or shared policy and value network parameters. Experiments on two cooperative environments demonstrate the effectiveness of the proposed method.

A Novel Trajectory Planning Method Based on Trust Region Policy Optimization

A Novel Trajectory Planning Method Based on Trust Region Policy Optimization

A Reinforcement Learning Approach for Continuum Robot Control

Rigid joint manipulators are limited in their movement and degrees of freedom (DOF), while continuum robots possess a continuous backbone that allows for free movement and multiple DOF. Continuum robots move by bending over a section, taking inspiration from biological manipulators such as tentacles and trunks. This paper presents an implementation of a forward kinematics and velocity kinematics model to describe the planar continuum robot, along with the application of reinforcement learning (RL) as a control algorithm. In this paper, we have adopted the planar constant curvature representation for the forward kinematic modeling. This choice was made due to its straightforward implementation and its potential to fill the literature gap in the field RL-based control for planar continuum robots. The intended control mechanism is achieved through the use of Deep Deterministic Policy Gradient (DDPG), a RL algorithm that is suited for learning controls in continuous action spaces. After simulating the algorithm, it was observed that the planar continuum robot can autonomously move from any initial point to any desired goal point within the task space of the robot. By analyzing the results, we wanted to recommend a future direction for research in the field of continuum robot control, specifically in the application of RL algorithms. One potential area of focus could be the integration of sensory feedback, such as vision or force sensing, to improve the robot’s ability to navigate complex environments. Additionally, exploring the use of different RL algorithms, such as Proximal Policy Optimization (PPO) or Trust Region Policy Optimization (TRPO), could lead to further advancements in the field. Overall, this paper demonstrates the potential for RL-based control of continuum robots and highlights the importance of continued research in this area.

Deep Q-Network (DQN): Reinforcement Learning Based Approach for Secure Social Distancing Adherence with SARS-CoV-2 in Public Places

The estimates taken far and wide to deal with the SARS-CoV-2 pandemic, limiting travel, shuttering superfluous organizations and implementing all social separating arrangements, are having serious monetary consequences. a noteworthy decrease in economic action spread over the economy the world, lasting in excess of a few months, typically clear in genuine GDP. Where it is formally announced a downturn. To quicken a strong expected recuperation with rising protectionism and unilateralism. There is a requirement for individuals to come out and face the circumstance. Despite the fact that it is established that separating individuals and investigating their contacts would be inadequate to control the SARS-CoV-2 pandemic, in light of the fact that there would be an excess of deferral between the beginning of indications and seclusion. Consequently, in these sorts of conditions it is to keep people groups from infection influence and early anticipation of these tainted individuals may prompt re development the economy too. We built up a numerical model utilizing profound Deep reinforcement learning (DRL) which is poised to revolutionize the field of artificial intelligence and the use of central algorithms in deep RL, specifically the deep Q-network (DQN), trust region policy optimization (TRPO). The proposed astute checking framework can be utilized as a reciprocal apparatus to be introduced at better places and consequently screen individuals receiving the security rules. With these prudent estimations, people will have the option to win this battle against SARS-CoV-2.

Robust Reinforcement Learning-Based Multiple Inputs and Multiple Outputs Controller for Wind Turbines

The control of variable-speed wind turbines that generate electricity from the kinetic energy of the wind involves subsystems that need to be controlled simultaneously, namely, the blade pitch angle controllers and the generator torque controllers. The presented study solves the control problem with multiple inputs and multiple outputs (MIMO), using the method of reinforcement learning–based Trust Region Policy Optimization, through which the control parameters of both subsystems are simultaneously optimized. In this case, the robust control problem is transformed into a constrained optimal control problem with an appropriate choice of value functions for the nominal system. The study aims to synthesize a robust controller, with the aim of maximizing the generated energy (power) and minimizing unwanted forces (thrust). The innovative control architecture uses an extended input space, which allows fine-tuning of parameters for each operating state. Test calculations carried out in simulation experiments using models of the 5 MW NREL wind turbine and the 4 MW Enercon E-126 EP3 wind turbine are presented to illustrate the performance and practicality of the proposed approach.

Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning

In recent years, industries have increasingly emphasized the need for high-speed, energy-efficient, and cost-effective solutions. As a result, there has been growing interest in developing flexible link manipulator robots to meet these requirements. However, reducing the weight of the manipulator leads to increased flexibility which, in turn, causes vibrations. This research paper introduces a novel approach for controlling the vibration and motion of a two-link flexible manipulator using reinforcement learning. The proposed system utilizes trust region policy optimization to train the manipulator’s end effector to reach a desired target position, while minimizing vibration and strain at the root of the link. To achieve the research objectives, a 3D model of the flexible-link manipulator is designed, and an optimal reward function is identified to guide the learning process. The results demonstrate that the proposed approach successfully suppresses vibration and strain when moving the end effector to the target position. Furthermore, the trained model is applied to a physical flexible manipulator for real-world control verification. However, it is observed that the performance of the trained model does not meet expectations, due to simulation-to-real challenges. These challenges may include unanticipated differences in dynamics, calibration issues, actuator limitations, or other factors that affect the performance and behavior of the system in the real world. Therefore, further investigations and improvements are recommended to bridge this gap and enhance the applicability of the proposed approach.

Deep-reinforcement-learning-based gait pattern controller on an uneven terrain for humanoid robots

Although conventional gait pattern control in humanoid robots is typically performed on flat terrains, the roads that people walk on every day have bumps and potholes. Therefore, to make humanoid robots more similar to humans, the movement parameters of these robots should be modified to allow them to adapt to uneven terrains. In this study, to solve this problem, reinforcement learning (RL) was used to allow humanoid robots to engage in self-training and automatically adjust their parameters for ultimate gait pattern control. However, RL has multiple types, and each type has its own benefits and shortcomings. Therefore, a series of experiments were performed, and the results indicated that proximal policy optimization (PPO), combining advantage actor-critic and trust region policy optimization, was the most suitable method. Hence, an improved version of PPO, called PPO2, was used, and the experimental results indicated that the combination of deep RL with data preprocessing methods, such as wavelet transform and fuzzification, facilitated the gait pattern control and balance of humanoid robots.

Relative sparsity for medical decision problems.

Existing statistical methods can estimate a policy, or a mapping from covariates to decisions, which can then instruct decision makers (eg, whether to administer hypotension treatment based on covariates blood pressure and heart rate). There is great interest in using such data-driven policies in healthcare. However, it is often important to explain to the healthcare provider, and to the patient, how a new policy differs from the current standard of care. This end is facilitated if one can pinpoint the aspects of the policy (ie, the parameters for blood pressure and heart rate) that change when moving from the standard of care to the new, suggested policy. To this end, we adapt ideas from Trust Region Policy Optimization (TRPO). In our work, however, unlike in TRPO, the difference between the suggested policy and standard of care is required to be sparse, aiding with interpretability. This yields "relative sparsity," where, as a function of a tuning parameter, , we can approximately control the number of parameters in our suggested policy that differ from their counterparts in the standard of care (eg, heart rate only). We propose a criterion for selecting , perform simulations, and illustrate our method with a real, observational healthcare dataset, deriving a policy that is easy to explain in the context of the current standard of care. Our work promotes the adoption of data-driven decision aids, which have great potential to improve health outcomes.

Hierarchical path planner for unknown space exploration using reinforcement learning-based intelligent frontier selection

Path planning in unknown environments is extremely useful for some specific tasks, such as exploration of outer space planets, search and rescue in disaster areas, home sweeping services, etc. However, existing frontier-based path planners suffer from insufficient exploration, while reinforcement learning (RL)-based ones are confronted with problems in efficient training and effective searching. To overcome the above problems, this paper proposes a novel hierarchical path planner for unknown space exploration using RL-based intelligent frontier selection. Firstly, by decomposing the path planner into three-layered architecture (including the perception layer, planning layer, and control layer) and using edge detection to find potential frontiers to track, the path search space is shrunk from the whole map to a handful of points of interest, which significantly saves the computational resources in both training and execution processes. Secondly, one of the advanced RL algorithms, trust region policy optimization (TRPO), is used as a judge to select the best frontier for the robot to track, which ensures the optimality of the path planner with a shorter path length. The proposed method is validated through simulation and compared with both classic and state-of-the-art methods. Results show that the training process could be greatly accelerated compared with the traditional deep-Q network (DQN). Moreover, the proposed method has 4.2%–14.3% improvement in exploration region rate and achieves the highest exploration completeness.

Safe Reinforcement Learning for Transition Control of Ducted-Fan UAVs

Ducted-fan tail-sitter unmanned aerial vehicles (UAVs) provide versatility and unique benefits, attracting significant attention in various applications. This study focuses on developing a safe reinforcement learning method for back-transition control between level flight mode and hover mode for ducted-fan tail-sitter UAVs. Our method enables transition control with a minimal altitude change and transition time while adhering to the velocity constraint. We employ the Trust Region Policy Optimization, Proximal Policy Optimization with Lagrangian, and Constrained Policy Optimization (CPO) algorithms for controller training, showcasing the superiority of the CPO algorithm and the necessity of the velocity constraint. The transition trajectory achieved using the CPO algorithm closely resembles the optimal trajectory obtained via the well-known GPOPS-II software with the SNOPT solver. Meanwhile, the CPO algorithm also exhibits strong robustness under unknown perturbations of UAV model parameters and wind disturbance.

Survey on Object Detection Using Deep Reinforcement Learning

Deep Reinforcement Learning (DRL) is a method that is a combination of Reinforcement Learning framework and deep neural networks. It is observed that DRL achieved a remarkable victory over the fields such as video games, robotics, finance, computer vision, health care etc. Comparing other domains, the medicine and healthcare field has benefitted a lot from DRL. In this paper, we study the role of DRL in object detection using the works of various authors. Here we focus on object detection in medicine and the healthcare field. It is observed that the authors experience higher speed in the DRL algorithm compared to classic methods. The respective methods are more efficient and accurate working on CT/MRI images. Most authors use an updated DRL algorithm in the stage of feature extraction and also club it with some machine learning techniques. DQN (Deep Q Network), Double DQN, TRPO(Trust Region Policy Optimization) etc are some common DRL algorithms used by researchers. This literature survey emphasizes methodologies of application of DRL algorithms for more efficient object detection. This review helps the futuristic way to develop a DRL algorithm for better object detection in the healthcare domain and similar ones.

Graph-Attention-Based Casual Discovery With Trust Region-Navigated Clipping Policy Optimization.

In many domains of empirical sciences, discovering the causal structure within variables remains an indispensable task. Recently, to tackle unoriented edges or latent assumptions violation suffered by conventional methods, researchers formulated a reinforcement learning (RL) procedure for causal discovery and equipped a REINFORCE algorithm to search for the best rewarded directed acyclic graph. The two keys to the overall performance of the procedure are the robustness of RL methods and the efficient encoding of variables. However, on the one hand, REINFORCE is prone to local convergence and unstable performance during training. Neither trust region policy optimization, being computationally expensive, nor proximal policy optimization (PPO), suffering from aggregate constraint deviation, is a decent alternative for combinatory optimization problems with considerable individual subactions. We propose a trust region-navigated clipping policy optimization method for causal discovery that guarantees both better search efficiency and steadiness in policy optimization, in comparison with REINFORCE, PPO, and our prioritized sampling-guided REINFORCE implementation. On the other hand, to boost the efficient encoding of variables, we propose a refined graph attention encoder called SDGAT that can grasp more feature information without priori neighborhood information. With these improvements, the proposed method outperforms the former RL method in both synthetic and benchmark datasets in terms of output results and optimization robustness.

Stock Portfolio Management by Using Fuzzy Ensemble Deep Reinforcement Learning Algorithm

The research objective of this article is to train a computer (agent) with market information data so it can learn trading strategies and beat the market index in stock trading without having to make any prediction on market moves. The approach assumes no trading knowledge, so the agent will only learn from conducting trading with historical data. In this work, we address this task by considering Reinforcement Learning (RL) algorithms for stock portfolio management. We first generate a three-dimension fuzzy vector to describe the current trend for each stock. Then the fuzzy terms, along with other stock market features, such as prices, volumes, and technical indicators, were used as the input for five algorithms, including Advantage Actor-Critic, Trust Region Policy Optimization, Proximal Policy Optimization, Actor-Critic Using Kronecker Factored Trust Region, and Deep Deterministic Policy Gradient. An average ensemble method was applied to obtain trading actions. We set SP100 component stocks as the portfolio pool and used 11 years of daily data to train the model and simulate the trading. Our method demonstrated better performance than the two benchmark methods and each individual algorithm without fuzzy extension. In practice, real market traders could use the trained model to make inferences and conduct trading, then retrain the model once in a while since training such models is time0consuming but making inferences is nearly simultaneous.

Empirical Analysis of Automated Stock Trading Using Deep Reinforcement Learning

There are several automated stock trading programs using reinforcement learning, one of which is an ensemble strategy. The main idea of the ensemble strategy is to train DRL agents and make an ensemble with three different actor–critic algorithms: Advantage Actor–Critic (A2C), Deep Deterministic Policy Gradient (DDPG), and Proximal Policy Optimization (PPO). This novel idea was the concept mainly used in this paper. However, we did not stop there, but we refined the automated stock trading in two areas. First, we made another DRL-based ensemble and employed it as a new trading agent. We named it Remake Ensemble, and it combines not only A2C, DDPG, and PPO but also Actor–Critic using Kronecker-Factored Trust Region (ACKTR), Soft Actor–Critic (SAC), Twin Delayed DDPG (TD3), and Trust Region Policy Optimization (TRPO). Furthermore, we expanded the application domain of automated stock trading. Although the existing stock trading method treats only 30 Dow Jones stocks, ours handles KOSPI stocks, JPX stocks, and Dow Jones stocks. We conducted experiments with our modified automated stock trading system to validate its robustness in terms of cumulative return. Finally, we suggested some methods to gain relatively stable profits following the experiments.

CrowdGAIL: A spatiotemporal aware method for agent navigation

<abstract><p>Agent navigation has been a crucial task in today's service and automated factories. Many efforts are to set specific rules for agents in a certain scenario to regulate the agent's behaviors. However, not all situations could be in advance considered, which might lead to terrible performance in a real-world application. In this paper, we propose CrowdGAIL, a method to learn from expert behaviors as an instructing policy, can train most 'human-like' agents in navigation problems without manually setting any reward function or beforehand regulations. First, the proposed model structure is based on generative adversarial imitation learning (GAIL), which imitates how humans take actions and move toward the target to a maximum extent, and by comparison, we prove the advantage of proximal policy optimization (PPO) to trust region policy optimization, thus, GAIL-PPO is what we base. Second, we design a special Sequential DemoBuffer compatible with the inner long short-term memory structure to apply spatiotemporal instruction on the agent's next step. Third, the paper demonstrates the potential of the model with an integrated social manner in a multi-agent scenario by considering human collision avoidance as well as social comfort distance. At last, experiments on the generated dataset from CrowdNav verify how close our model would act like a human being in the trajectory aspect and also how it could guide the multi-agents by avoiding any collision. Under the same evaluation metrics, CrowdGAIL shows better results compared with classic Social-GAN.</p></abstract>