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Full-Text Articles in Physical Sciences and Mathematics
Modeling Trajectories With Recurrent Neural Networks, Hao Wu, Ziyang Chen, Weiwei Sun, Baihua Zheng, Wei Wang
Modeling Trajectories With Recurrent Neural Networks, Hao Wu, Ziyang Chen, Weiwei Sun, Baihua Zheng, Wei Wang
Research Collection School Of Computing and Information Systems
Modeling trajectory data is a building block for many smart-mobility initiatives. Existing approaches apply shallow models such as Markov chain and inverse reinforcement learning to model trajectories, which cannot capture the long-term dependencies. On the other hand, deep models such as Recurrent Neura lNetwork (RNN) have demonstrated their strength of modeling variable length sequences. However, directly adopting RNN to model trajectories is not appropriate because of the unique topological constraints faced by trajectories. Motivated by these findings, we design two RNN-based models which can make full advantage of the strength of RNN to capture variable length sequence and meanwhile to …
Seapot-Rl: Selective Exploration Algorithm For Policy Transfer In Rl, Akshay Narayan, Zhuoru Li, Tze-Yun Leong
Seapot-Rl: Selective Exploration Algorithm For Policy Transfer In Rl, Akshay Narayan, Zhuoru Li, Tze-Yun Leong
Research Collection School Of Computing and Information Systems
We propose a new method for transferring a policy from a source task to a target task in model-based reinforcement learning. Our work is motivated by scenarios where a robotic agent operates in similar but challenging environments, such as hospital wards, differentiated by structural arrangements or obstacles, such as furniture. We address problems that require fast responses adapted from incomplete, prior knowledge of the agent in new scenarios. We present an efficient selective exploration strategy that maximally reuses the source task policy. Reuse efficiency is effected through identifying sub-spaces that are different in the target environment, thus limiting the exploration …
An Efficient Approach To Model-Based Hierarchical Reinforcement Learning, Zhuoru Li, Akshay Narayan, Tze-Yun Leong
An Efficient Approach To Model-Based Hierarchical Reinforcement Learning, Zhuoru Li, Akshay Narayan, Tze-Yun Leong
Research Collection School Of Computing and Information Systems
We propose a model-based approach to hierarchical reinforcement learning that exploits shared knowledge and selective execution at different levels of abstraction, to efficiently solve large, complex problems. Our framework adopts a new transition dynamics learning algorithm that identifies the common action-feature combinations of the subtasks, and evaluates the subtask execution choices through simulation. The framework is sample efficient, and tolerates uncertain and incomplete problem characterization of the subtasks. We test the framework on common benchmark problems and complex simulated robotic environments. It compares favorably against the stateof-the-art algorithms, and scales well in very large problems.