ARTICLE | doi:10.20944/preprints202209.0483.v1
Subject: Engineering, Control & Systems Engineering Keywords: deep reinforcement learning; data efficient; curriculum learning; transfer learning
Online: 30 September 2022 (10:35:06 CEST)
Sparse reward long horizon task is a major challenge for deep reinforcement learning algorithm. One of the key barriers is data-inefficiency. Even in the simulation environment, it usually takes weeks to training the agent. In this study, a data-efficiency training framework is proposed, where a curriculum learning is design for the agent in the simulation scenario. Different distributions of the initial state are set for the agent to get more informative reward during the whole training process. A fine-tuning of the parameters in the output layer of the neural network for value function is conduct to bridge the gap between sim-to-real. An experiment of UAV maneuver control is conducted in the proposed training framework to verify the method more efficient. We demonstrate that data-efficiency is different for the same data in different training stages.