Our effort is toward unifying GAN and DRL algorithms into a unifying AI model (AGI or general-purpose AI or artificial general intelligence which has general-purpose applications to: (A) offline learning (of stored data) like GAN in (un/semi-/fully-)SL setting such as big data analytics (mining) and visualization; (B) online learning (of real or simulated devices) like DRL in RL setting (with/out environment reward) such as (real or simulated) robotics and control; Our core proposal is adding an (generative/predictive) environment model to the actor-critic (model-free) architecture which results in a model-based actor-critic architecture with temporal-differencing (TD) error and an episodic memory. The proposed AI model is similar to (model-free) DDPG and therefore it's called model-based DDPG. To evaluate it, we compare it with (model-free) DDPG by applying them both to a variety (wide range) of independent simulated robotic and control task environments in OpenAI Gym and Unity Agents. Our initial limited experiments show that DRL and GAN in model-based actor-critic results in an incremental goal-driven intellignce required to solve each task with similar performance to (model-free) DDPG. Our future focus is to investigate the proposed AI model potential to: (A) unify DRL field inside AI by producing competitive performance compared to the best of model-based (PlaNet) and model-free (D4PG) approaches; (B) bridge the gap between AI and robotics communities by solving the important problem of reward engineering with learning the reward function by demonstration.
Tsinghua-Berkeley Shenzhen Institute, Tsinghua University（清华大学清华-伯克利深圳学院）；Shanghai University of Electric Power（上海电力大学）；Tsinghua University（清华大学）；Beihang University（北京航空航天大学）
Reference-model-assisted deep reinforcement learning (DRL) for inverter-based Volt-Var Control (IB-VVC) in active distribution networks is proposed. We investigate that a large action space increases the learning difficulties of DRL and degrades the optimization performance in the process of generating data and training neural networks. To reduce the action space of DRL, we design a reference-model-assisted DRL approach. We introduce definitions of the reference model, reference-model-based optimization, and reference actions. The reference-model-assisted DRL learns the residual actions betwee…
Adversarial attacks against conventional Deep Learning (DL) systems and algorithms have been widely studied, and various defenses were proposed. However, the possibility and feasibility of such attacks against Deep Reinforcement Learning (DRL) are less explored. As DRL has achieved great success in various complex tasks, designing effective adversarial attacks is an indispensable prerequisite towards building robust DRL algorithms. In this paper, we introduce two novel adversarial attack techniques to \emph{stealthily} and \emph{efficiently} attack the DRL agents. These two techniques enable a…
Syracuse University（雪城大学）；DiDi AI Labs, Didi Chuxing（滴滴出行人工智能实验室）
While Deep Reinforcement Learning (DRL) has emerged as a promising approach to many complex tasks, it remains challenging to train a single DRL agent that is capable of undertaking multiple different continuous control tasks. In this paper, we present a Knowledge Transfer based Multi-task Deep Reinforcement Learning framework (KTM-DRL) for continuous control, which enables a single DRL agent to achieve expert-level performance in multiple different tasks by learning from task-specific teachers. In KTM-DRL, the multi-task agent first leverages an offline knowledge transfer algorithm designed pa…
University of South Australia（南澳大利亚大学）；University of Tasmania（塔斯马尼亚大学）；University of Technology Sydney（悉尼科技大学）
Autonomous driving has been at the forefront of public interest, and a pivotal debate to widespread concerns is safety in the transportation system. Deep reinforcement learning (DRL) has been applied to autonomous driving to provide solutions for obstacle avoidance. However, in a road traffic junction scenario, the vehicle typically receives partial observations from the transportation environment, while DRL needs to rely on long-term rewards to train a reliable model by maximising the cumulative rewards, which may take the risk when exploring new actions and returning either a positive reward…
Enhancing sample efficiency in reinforcement-learning-based flow control: replacing the critic with an adaptive reduced-order model
School of Mechanical Engineering, Zhejiang University（浙江大学机械工程学院）；Department of Mechanical Engineering, National University of Singapore（新加坡国立大学机械工程系）；Department of Modern Mechanics, University of Science and Technology of China（中国科学技术大学近代力学系）
Pacific Northwest National Laboratory（太平洋西北国家实验室）；Google Inc（谷歌公司）
This article proposes a model-based deep reinforcement learning (DRL) method to design emergency control strategies for short-term voltage stability problems in power systems. Recent advances show promising results in model-free DRL-based methods for power systems, but model-free methods suffer from poor sample efficiency and training time, both critical for making state-of-the-art DRL algorithms practically applicable. DRL-agent learns an optimal policy via a trial-and-error method while interacting with the real-world environment. And it is desirable to minimize the direct interaction of the…
Information Technology University (ITU)（信息技术大学）；Qatar University（卡塔尔大学）；Hamad bin Khalifa University (HBKU)（哈马德·本·哈利法大学）；University of Technology Sydney (UTS)（悉尼科技大学）；Nanyang Technological University (NTU)（南洋理工大学）
Deep Reinforcement Learning (DRL) has numerous applications in the real world thanks to its outstanding ability in quickly adapting to the surrounding environments. Despite its great advantages, DRL is susceptible to adversarial attacks, which precludes its use in real-life critical systems and applications (e.g., smart grids, traffic controls, and autonomous vehicles) unless its vulnerabilities are addressed and mitigated. Thus, this paper provides a comprehensive survey that discusses emerging attacks in DRL-based systems and the potential countermeasures to defend against these attacks. We …
Deep Reinforcement Learning (DRL) has achieved great success in solving complicated decision-making problems. Despite the successes, DRL is frequently criticized for many reasons, e.g., data inefficient, inflexible and intractable reward design. In this paper, we review two publications that investigate the mentioned issues of DRL and propose effective solutions. One designs the reward for human-robot collaboration by combining the manually designed extrinsic reward with a parameterized intrinsic reward function via the deterministic policy gradient, which improves the task performance and gua…
Research Institute of Electrical and Computer Engineering, Hanyang University（汉阳大学电气与计算机工程研究所）；Hanyang University（汉阳大学）
In this paper, we propose SACHER (soft actor-critic (SAC) with hindsight experience replay (HER)), which constitutes a class of deep reinforcement learning (DRL) algorithms. SAC is known as an off-policy model-free DRL algorithm based on the maximum entropy framework, which outperforms earlier DRL algorithms in terms of exploration, robustness and learning performance. However, in SAC, maximizing the entropy-augmented objective may degrade the optimality of learning outcomes. HER is known as a sample-efficient replay method that enhances the performance of off-policy DRL algorithms by allowing…
Institute for Intelligent Systems Research and Innovation（智能系统研究与创新研究所）；Deakin University（迪肯大学）
In 2015, Google's DeepMind announced an advancement in creating an autonomous agent based on deep reinforcement learning (DRL) that could beat a professional player in a series of 49 Atari games. However, the current manifestation of DRL is still immature, and has significant drawbacks. One of DRL's imperfections is its lack of "exploration" during the training process, especially when working with high-dimensional problems. In this paper, we propose a mixed strategy approach that mimics behaviors of human when interacting with environment, and create a "thinking" agent that allows for more ef…
New York University（纽约大学）；NYU Shanghai（上海纽约大学）；University of California San Diego（加州大学圣迭戈分校）
We aim to develop off-policy DRL algorithms that not only exceed state-of-the-art performance but are also simple and minimalistic. For standard continuous control benchmarks, Soft Actor-Critic (SAC), which employs entropy maximization, currently provides state-of-the-art performance. We first demonstrate that the entropy term in SAC addresses action saturation due to the bounded nature of the action spaces, with this insight, we propose a streamlined algorithm with a simple normalization scheme or with inverted gradients. We show that both approaches can match SAC's sample efficiency performa…
IRIB University（伊朗伊斯兰共和国广播大学）；Tarbiat Modares University（塔比亚特莫达雷斯大学）；Shahrood University of Technology（沙鲁德理工大学）；TU Braunschweig（布伦瑞克工业大学）
In this paper, we propose a Zero-Touch, deep reinforcement learning (DRL)-based Proactive Failure Recovery framework called ZT-PFR for stateful network function virtualization (NFV)-enabled networks. To this end, we formulate a resource-efficient optimization problem minimizing the network cost function including resource cost and wrong decision penalty. As a solution, we propose state-of-the-art DRL-based methods such as soft-actor-critic (SAC) and proximal-policy-optimization (PPO). In addition, to train and test our DRL agents, we propose a novel impending-failure model. Moreover, to keep n…
Deep reinforcement learning (DRL) has great potential for acquiring the optimal action in complex environments such as games and robot control. However, it is difficult to analyze the decision-making of the agent, i.e., the reasons it selects the action acquired by learning. In this work, we propose Mask-Attention A3C (Mask A3C), which introduces an attention mechanism into Asynchronous Advantage Actor-Critic (A3C), which is an actor-critic-based DRL method, and can analyze the decision-making of an agent in DRL. A3C consists of a feature extractor that extracts features from an image, a polic…
Syracuse University（雪城大学）；AT&T Labs Research（AT&T实验室研究院）；Beijing Institute of Technology（北京理工大学）；Colorado School of Mines（科罗拉多矿业大学）
Modern communication networks have become very complicated and highly dynamic, which makes them hard to model, predict and control. In this paper, we develop a novel experience-driven approach that can learn to well control a communication network from its own experience rather than an accurate mathematical model, just as a human learns a new skill (such as driving, swimming, etc). Specifically, we, for the first time, propose to leverage emerging Deep Reinforcement Learning (DRL) for enabling model-free control in communication networks; and present a novel and highly effective DRL-based cont…
Technical University of Munich（慕尼黑工业大学）；Wayne State University（韦恩州立大学）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Deep reinforcement learning (DRL) has achieved tremendous success in many complex decision-making tasks of autonomous systems with high-dimensional state and/or action spaces. However, the safety and stability still remain major concerns that hinder the applications of DRL to safety-critical autonomous systems. To address the concerns, we proposed the Phy-DRL: a physical deep reinforcement learning framework. The Phy-DRL is novel in two architectural designs: i) Lyapunov-like reward, and ii) residual control (i.e., integration of physics-model-based control and data-driven control). The concur…
Quantile-Coupled Flow Matching for Distributional Reinforcement Learning
Oxford Robotics Institute, University of Oxford（牛津大学机器人研究所）；Bristol Robotics Laboratory, University of the West of England（布里斯托尔机器人实验室，西英格兰大学）；Dyson Institute of Engineering & Technology（戴森工程与技术研究院）
This research is concerned with the novel application and investigation of `Soft Actor Critic' (SAC) based Deep Reinforcement Learning (DRL) to control the cooling setpoint (and hence cooling loads) of a large commercial building to harness energy flexibility. The research is motivated by the challenge associated with the development and application of conventional model-based control approaches at scale to the wider building stock. SAC is a model-free DRL technique that is able to handle continuous action spaces and which has seen limited application to real-life or high-fidelity simulation i…
Analyzing Adversarial Inputs in Deep Reinforcement Learning
University of California, Irvine, USA（加州大学尔布雷特分校）；Cornell University, USA（康奈尔大学）；The Hebrew University of Jerusalem, Israel（特拉维夫大学）；University of Verona, Italy（威尼斯大学）
National University of Defense Technology（中国人民解放军国防科技大学）；Kings College London（伦敦国王学院）；Cranfield University（克兰菲尔德大学）；Alan Turing Institute（艾伦·图灵研究所）；Queen Mary University of London（伦敦玛丽女王大学）；Nanjing University of Aeronautics and Astronautics（南京航空航天大学）
AI heralds a step-change in the performance and capability of wireless networks and other critical infrastructures. However, it may also cause irreversible environmental damage due to their high energy consumption. Here, we address this challenge in the context of 5G and beyond, where there is a complexity explosion in radio resource management (RRM). On the one hand, deep reinforcement learning (DRL) provides a powerful tool for scalable optimization for high dimensional RRM problems in a dynamic environment. On the other hand, DRL algorithms consume a high amount of energy over time and risk…
Network Slice placement with the problem of allocation of resources from a virtualized substrate network is an optimization problem which can be formulated as a multiobjective Integer Linear Programming (ILP) problem. However, to cope with the complexity of such a continuous task and seeking for optimality and automation, the use of Machine Learning (ML) techniques appear as a promising approach. We introduce a hybrid placement solution based on Deep Reinforcement Learning (DRL) and a dedicated optimization heuristic based on the Power of Two Choices principle. The DRL algorithm uses the so-ca…
ETH Zurich（苏黎世联邦理工学院）；Institute of Science, Technology and Policy（科学、技术与政策研究所）
Sampled environment transitions are a critical input to deep reinforcement learning (DRL) algorithms. Current DRL benchmarks often allow for the cheap and easy generation of large amounts of samples such that perceived progress in DRL does not necessarily correspond to improved sample efficiency. As simulating real world processes is often prohibitively hard and collecting real world experience is costly, sample efficiency is an important indicator for economically relevant applications of DRL. We investigate progress in sample efficiency on Atari games and continuous control tasks by comparin…
Since the inception of Deep Reinforcement Learning (DRL) algorithms, there has been a growing interest in both research and industrial communities in the promising potentials of this paradigm. The list of current and envisioned applications of deep RL ranges from autonomous navigation and robotics to control applications in the critical infrastructure, air traffic control, defense technologies, and cybersecurity. While the landscape of opportunities and the advantages of deep RL algorithms are justifiably vast, the security risks and issues in such algorithms remain largely unexplored. To faci…
Tsinghua-Berkeley Shenzhen Institute, Tsinghua University（清华大学清华-伯克利深圳学院）；Shanghai University of Electric Power（上海电力大学）；Tsinghua University（清华大学）；Beihang University（北京航空航天大学）；Digital Grid Research Institute, China Southern Power Grid（中国南方电网数字电网研究院）
A one-step two-critic deep reinforcement learning (OSTC-DRL) approach for inverter-based volt-var control (IB-VVC) in active distribution networks is proposed in this paper. Firstly, considering IB-VVC can be formulated as a single-period optimization problem, we formulate the IB-VVC as a one-step Markov decision process rather than the standard Markov decision process, which simplifies the DRL learning task. Then we design the one-step actor-critic DRL scheme which is a simplified version of recent DRL algorithms, and it avoids the issue of Q value overestimation successfully. Furthermore, co…
