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Volume 8 Issue 10
Oct.  2021

IEEE/CAA Journal of Automatica Sinica

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Chenghao Liu, Fei Zhu, Quan Liu and Yuchen Fu, "Hierarchical Reinforcement Learning With Automatic Sub-Goal Identification," IEEE/CAA J. Autom. Sinica, vol. 8, no. 10, pp. 1686-1696, Oct. 2021. doi: 10.1109/JAS.2021.1004141
Citation: Chenghao Liu, Fei Zhu, Quan Liu and Yuchen Fu, "Hierarchical Reinforcement Learning With Automatic Sub-Goal Identification," IEEE/CAA J. Autom. Sinica, vol. 8, no. 10, pp. 1686-1696, Oct. 2021. doi: 10.1109/JAS.2021.1004141

Hierarchical Reinforcement Learning With Automatic Sub-Goal Identification

doi: 10.1109/JAS.2021.1004141
Funds:  This work was supported by the National Natural Science Foundation of China (61303108), Suzhou Key Industries Technological Innovation-Prospective Applied Research Project (SYG201804), A Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD), and the Fundamental Research Funds for the Gentral Universities, JLU (93K172020K25)
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  • In reinforcement learning an agent may explore ineffectively when dealing with sparse reward tasks where finding a reward point is difficult. To solve the problem, we propose an algorithm called hierarchical deep reinforcement learning with automatic sub-goal identification via computer vision (HADS) which takes advantage of hierarchical reinforcement learning to alleviate the sparse reward problem and improve efficiency of exploration by utilizing a sub-goal mechanism. HADS uses a computer vision method to identify sub-goals automatically for hierarchical deep reinforcement learning. Due to the fact that not all sub-goal points are reachable, a mechanism is proposed to remove unreachable sub-goal points so as to further improve the performance of the algorithm. HADS involves contour recognition to identify sub-goals from the state image where some salient states in the state image may be recognized as sub-goals, while those that are not will be removed based on prior knowledge. Our experiments verified the effect of the algorithm.

     

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    Highlights

    • The sub-goals are detected automatically via computer vision.
    • The agent receives an inner reward after completing the sub-goal.
    • The combined input of the sub-goal and the image achieves a better result.

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