Browse
Submit Data
Databases
API
Help

Dataset Information

17 Views

0 Connections

0 Citations

0 Reanalyses

0 Downloads

Omics score: 0

Bridging Reinforcement Learning and Iterative Learning Control: Autonomous Motion Learning for Unknown, Nonlinear Dynamics

ABSTRACT: This work addresses the problem of reference tracking in autonomously learning robots with unknown, nonlinear dynamics. Existing solutions require model information or extensive parameter tuning, and have rarely been validated in real-world experiments. We propose a learning control scheme that learns to approximate the unknown dynamics by a Gaussian Process (GP), which is used to optimize and apply a feedforward control input on each trial. Unlike existing approaches, the proposed method neither requires knowledge of the system states and their dynamics nor knowledge of an effective feedback control structure. All algorithm parameters are chosen automatically, i.e. the learning method works plug and play. The proposed method is validated in extensive simulations and real-world experiments. In contrast to most existing work, we study learning dynamics for more than one motion task as well as the robustness of performance across a large range of learning parameters. The method’s plug and play applicability is demonstrated by experiments with a balancing robot, in which the proposed method rapidly learns to track the desired output. Due to its model-agnostic and plug and play properties, the proposed method is expected to have high potential for application to a large class of reference tracking problems in systems with unknown, nonlinear dynamics.

SUBMITTER: Meindl M

PROVIDER: S-EPMC9315427 | biostudies-literature |

REPOSITORIES: biostudies-literature

ACCESS DATA

Json Xml

Similar Datasets

Autonomous robotic nanofabrication with reinforcement learning.

Project description:The ability to handle single molecules as effectively as macroscopic building blocks would enable the construction of complex supramolecular structures inaccessible to self-assembly. The fundamental challenges obstructing this goal are the uncontrolled variability and poor observability of atomic-scale conformations. Here, we present a strategy to work around both obstacles and demonstrate autonomous robotic nanofabrication by manipulating single molecules. Our approach uses reinforcement learning (RL), which finds solution strategies even in the face of large uncertainty and sparse feedback. We demonstrate the potential of our RL approach by removing molecules autonomously with a scanning probe microscope from a supramolecular structure. Our RL agent reaches an excellent performance, enabling us to automate a task that previously had to be performed by a human. We anticipate that our work opens the way toward autonomous agents for the robotic construction of functional supramolecular structures with speed, precision, and perseverance beyond our current capabilities.

| S-EPMC7467688 | biostudies-literature

Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake.

Project description:Snake robotics is an important research topic with a wide range of applications, including inspection in confined spaces, search-and-rescue, and disaster response. Snake robots are well-suited to these applications because of their versatility and adaptability to unstructured and constrained environments. In this paper, we introduce a soft pneumatic robotic snake that can imitate the capabilities of biological snakes, its soft body can provide flexibility and adaptability to the environment. This paper combines soft mobile robot modeling, proprioceptive feedback control, and motion planning to pave the way for functional soft robotic snake autonomy. We propose a pressure-operated soft robotic snake with a high degree of modularity that makes use of customized embedded flexible curvature sensing. On this platform, we introduce the use of iterative learning control using feedback from the on-board curvature sensors to enable the snake to automatically correct its gait for superior locomotion. We also present a motion planning and trajectory tracking algorithm using an adaptive bounding box, which allows for efficient motion planning that still takes into account the kinematic state of the soft robotic snake. We test this algorithm experimentally, and demonstrate its performance in obstacle avoidance scenarios.

| S-EPMC7805722 | biostudies-literature

Experimental semi-autonomous eigensolver using reinforcement learning.

Project description:The characterization of observables, expressed via Hermitian operators, is a crucial task in quantum mechanics. For this reason, an eigensolver is a fundamental algorithm for any quantum technology. In this work, we implement a semi-autonomous algorithm to obtain an approximation of the eigenvectors of an arbitrary Hermitian operator using the IBM quantum computer. To this end, we only use single-shot measurements and pseudo-random changes handled by a feedback loop, reducing the number of measures in the system. Due to the classical feedback loop, this algorithm can be cast into the reinforcement learning paradigm. Using this algorithm, for a single-qubit observable, we obtain both eigenvectors with fidelities over 0.97 with around 200 single-shot measurements. For two-qubits observables, we get fidelities over 0.91 with around 1500 single-shot measurements for the four eigenvectors, which is a comparatively low resource demand, suitable for current devices. This work is useful to the development of quantum devices able to decide with partial information, which helps to implement future technologies in quantum artificial intelligence.

| S-EPMC8192530 | biostudies-literature

Friction Dynamics of Foams under Nonlinear Motion.

Project description:Foams are viscoelastic soft materials with complex mechanical properties. Here, we evaluated the friction dynamics of foams between acrylic plates using a sinusoidal motion friction evaluation system and we found some interesting characteristics under accelerated conditions. On a typical solid surface, a symmetrical friction profile, in which static and kinetic frictions are observed, is obtained under reciprocating nonlinear motion. Meanwhile, significant lubricant effects and velocity-dependent friction profiles without static friction were observed in foams. The friction force in foams increased in proportion to the power of velocity, with a power index of <1. These characteristic and dynamic phenomena in foams were observed in this study. They had been caused by the formation of a thick lubricant film and various dissipative modes including surfactant diffusion, viscous dissipation, and wall slip of bubbles. Moreover, the addition of a thickener increased the friction force and the delay time of friction response and improved the foam durability against normal force and shear. These findings are useful for understanding dynamic phenomena in soft materials.

| S-EPMC9118422 | biostudies-literature

Bridging Locomotion and Manipulation Using Reconfigurable Robotic Limbs via Reinforcement Learning.

Project description:Locomotion and manipulation are two essential skills in robotics but are often divided or decoupled into two separate problems. It is widely accepted that the topological duality between multi-legged locomotion and multi-fingered manipulation shares an intrinsic model. However, a lack of research remains to identify the data-driven evidence for further research. This paper explores a unified formulation of the loco-manipulation problem using reinforcement learning (RL) by reconfiguring robotic limbs with an overconstrained design into multi-legged and multi-fingered robots. Such design reconfiguration allows for adopting a co-training architecture for reinforcement learning towards a unified loco-manipulation policy. As a result, we find data-driven evidence to support the transferability between locomotion and manipulation skills using a single RL policy with a multilayer perceptron or graph neural network. We also demonstrate the Sim2Real transfer of the learned loco-manipulation skills in a robotic prototype. This work expands the knowledge frontiers on loco-manipulation transferability with learning-based evidence applied in a novel platform with overconstrained robotic limbs.

| S-EPMC10452096 | biostudies-literature

Reinforcement Learning for Dynamic Microfluidic Control.

Project description:Recent years have witnessed an explosion in the application of microfluidic techniques to a wide variety of problems in the chemical and biological sciences. Despite the many considerable advantages that microfluidic systems bring to experimental science, microfluidic platforms often exhibit inconsistent system performance when operated over extended timescales. Such variations in performance are because of a multiplicity of factors, including microchannel fouling, substrate deformation, temperature and pressure fluctuations, and inherent manufacturing irregularities. The introduction and integration of advanced control algorithms in microfluidic platforms can help mitigate such inconsistencies, paving the way for robust and repeatable long-term experiments. Herein, two state-of-the-art reinforcement learning algorithms, based on Deep Q-Networks and model-free episodic controllers, are applied to two experimental "challenges," involving both continuous-flow and segmented-flow microfluidic systems. The algorithms are able to attain superhuman performance in controlling and processing each experiment, highlighting the utility of novel control algorithms for automated high-throughput microfluidic experimentation.

| S-EPMC6644574 | biostudies-literature

Orbitofrontal Circuits Control Multiple Reinforcement-Learning Processes.

Project description:Adaptive decision making in dynamic environments requires multiple reinforcement-learning steps that may be implemented by dissociable neural circuits. Here, we used a novel directionally specific viral ablation approach to investigate the function of several anatomically defined orbitofrontal cortex (OFC) circuits during adaptive, flexible decision making in rats trained on a probabilistic reversal learning task. Ablation of OFC neurons projecting to the nucleus accumbens selectively disrupted performance following a reversal, by disrupting the use of negative outcomes to guide subsequent choices. Ablation of amygdala neurons projecting to the OFC also impaired reversal performance, but due to disruptions in the use of positive outcomes to guide subsequent choices. Ablation of OFC neurons projecting to the amygdala, by contrast, enhanced reversal performance by destabilizing action values. Our data are inconsistent with a unitary function of the OFC in decision making. Rather, distinct OFC-amygdala-striatal circuits mediate distinct components of the action-value updating and maintenance necessary for decision making.

| S-EPMC6893860 | biostudies-literature

An Autonomous Path Planning Model for Unmanned Ships Based on Deep Reinforcement Learning.

Project description:Deep reinforcement learning (DRL) has excellent performance in continuous control problems and it is widely used in path planning and other fields. An autonomous path planning model based on DRL is proposed to realize the intelligent path planning of unmanned ships in the unknown environment. The model utilizes the deep deterministic policy gradient (DDPG) algorithm, through the continuous interaction with the environment and the use of historical experience data; the agent learns the optimal action strategy in a simulation environment. The navigation rules and the ship's encounter situation are transformed into a navigation restricted area, so as to achieve the purpose of planned path safety in order to ensure the validity and accuracy of the model. Ship data provided by ship automatic identification system (AIS) are used to train this path planning model. Subsequently, the improved DRL is obtained by combining DDPG with the artificial potential field. Finally, the path planning model is integrated into the electronic chart platform for experiments. Through the establishment of comparative experiments, the results show that the improved model can achieve autonomous path planning, and it has good convergence speed and stability.

| S-EPMC7013856 | biostudies-literature

Autonomous molecule generation using reinforcement learning and docking to develop potential novel inhibitors.

Project description:We developed a computational method named Molecule Optimization by Reinforcement Learning and Docking (MORLD) that automatically generates and optimizes lead compounds by combining reinforcement learning and docking to develop predicted novel inhibitors. This model requires only a target protein structure and directly modifies ligand structures to obtain higher predicted binding affinity for the target protein without any other training data. Using MORLD, we were able to generate potential novel inhibitors against discoidin domain receptor 1 kinase (DDR1) in less than 2 days on a moderate computer. We also demonstrated MORLD's ability to generate predicted novel agonists for the D4 dopamine receptor (D4DR) from scratch without virtual screening on an ultra large compound library. The free web server is available at http://morld.kaist.ac.kr .

| S-EPMC7744578 | biostudies-literature

Iterative transfer learning for automatic collective motion tuning on multiple robot platforms.

Project description:This paper proposes an iterative transfer learning approach to achieve swarming collective motion in groups of mobile robots. By applying transfer learning, a deep learner capable of recognizing swarming collective motion can use its knowledge to tune stable collective motion behaviors across multiple robot platforms. The transfer learner requires only a small set of initial training data from each robot platform, and this data can be collected from random movements. The transfer learner then progressively updates its own knowledge base with an iterative approach. This transfer learning eliminates the cost of extensive training data collection and the risk of trial-and-error learning on robot hardware. We test this approach on two robot platforms: simulated Pioneer 3DX robots and real Sphero BOLT robots. The transfer learning approach enables both platforms to automatically tune stable collective behaviors. Using the knowledge-base library the tuning procedure is fast and accurate. We demonstrate that these tuned behaviors can be used for typical multi-robot tasks such as coverage, even though they are not specifically designed for coverage tasks.

| S-EPMC10060795 | biostudies-literature

OmicsDI is part of the ELIXIR infrastructure

OmicsDI is an Elixir interoperability service. Learn more ›

Tweets

OmicsDI Databases

PRIDE
PeptideAtlas
MassIVE
JPOST Repository
Physiome Model Repository

EGA
EVA
ENA
LINCS
PAXDB
Cell Collective

MetaboLights
Metabolomics Workbench
MetabolomeExpress
GNPS
BioModels
FAIRDOMHub

ArrayExpress
dbGaP
ExpressionAtlas
GEO
NODE

Information

Databases
Help
API
Contact us
Code on GitHub
Terms of use
Submit Data