Improving Model-Based Deep Reinforcement Learning with Learning Degree Networks and Its Application in Robot Control

摘要

Deep reinforcement learning is the technology of artificial neural networks in the field of decision-making and control. The traditional model-free reinforcement learning algorithm requires a large amount of environment interactive data to iterate the algorithm. This model’s performance also suffers due to low utilization of training data, while the model-based reinforcement learning (MBRL) algorithm improves the efficiency of the data, MBRL locks into low prediction accuracy. Although MBRL can utilize the additional data generated by the dynamic model, a system dynamics model with low prediction accuracy will provide low-quality data and affect the algorithm’s final result. In this paper, based on the A3C (Asynchronous Advantage Actor-Critic) algorithm, an improved model-based deep reinforcement learning algorithm using a learning degree network (MBRL-LDN) is presented. By comparing the differences between the predicted states outputted by the proposed multidynamic model and the original predicted states, the learning degree of the system dynamics model is calculated. The learning degree represents the quality of the data generated by the dynamic model and is used to decide whether to continue to interact with the dynamic model during a particular episode. Thus, low-quality data will be discarded. The superiority of the proposed method is verified by conducting extensive contrast experiments.