Research Area:  Machine Learning

Abstract:

This letter was motivated by the problem of how to make robots fuse and transfer their experience so that they can effectively use prior knowledge and quickly adapt to new environments. To address the problem, we present a learning architecture for navigation in cloud robotic systems: Lifelong Federated Reinforcement Learning (LFRL). In the letter, we propose a knowledge fusion algorithm for upgrading a shared model deployed on the cloud. Then, effective transfer learning methods in LFRL are introduced. LFRL is consistent with human cognitive science and fits well in cloud robotic systems. Experiments show that LFRL greatly improves the efficiency of reinforcement learning for robot navigation. The cloud robotic system deployment also shows that LFRL is capable of fusing prior knowledge. In addition, we release a cloud robotic navigation-learning website to provide the service based on LFRL: www.shared-robotics.com.

Keywords:  
Lifelong Federated Reinforcement Learning
Cloud
Robotic Systems
Machine Learning
Deep Learning

Author(s) Name:  Boyi Liu; Lujia Wang; Ming Liu

Publisher name:  IEEE

DOI:  10.1109/LRA.2019.2931179

Volume Information:  Volume: 4, Issue: 4, Page(s): 4555 - 4562

Paper Link:   https://ieeexplore.ieee.org/abstract/document/8772088