Considering its advantages in dealing with high-dimensional visual input and learning control policies in discrete domain, Deep Q Network (DQN) could be an alternative method of traditional auto-focus means in the future. In this paper, based on Deep Reinforcement Learning, we propose an end-to-end approach that can learn auto-focus policies from visual input and finish at a clear spot automatically. We demonstrate that our method - discretizing the action space with coarse to fine steps and applying DQN is not only a solution to auto-focus but also a general approach towards vision-based control problems. Separate phases of training in virtual and real environments are applied to obtain an effective model. Virtual experiments, which are carried out after the virtual training phase, indicates that our method could achieve 100 accuracy on a certain view with different focus range. Further training on real robots could eliminate the deviation between the simulator and real scenario, leading to reliable performances in real applications.
In vision-based DRL, approaches towards problems with discrete and continuous action spaces are largely different @cite_2 . As a classical function approximation method, DQN is widely applied in discrete domain such as games with limited actions @cite_11 @cite_5 @cite_1 . Policy search methods, on the other hand, provide solutions for robotic control problems which require continuous instructions to set motor torques @cite_18 @cite_20 . However, direct policy search methods have inherent difficuties in maximization and backup calculations for its non-negligible complexity @cite_2 , which results in recent works on utilizing value-function-based update in continuous action problems. Normalized Advantage Functions (NAF) made successful attempts in extending the Q-learning variant to continuous domain @cite_19 . Another approach, called Deep Deterministic Policy Search (DDPG), circumvented the problem by adopting actor-critic methods @cite_12 . These means learned promising policies in continuously-controlled physical tasks, but the dimension of input data is strongly limited @cite_15 . To summarize, DQN is still the first choice for discrete action problems considering its advantage in processing high-dimensional input.
@cite_18 @cite_1 @cite_19 @cite_2 @cite_5 @cite_15 @cite_12 @cite_20 @cite_11
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It has long been assumed that high dimensional continuous control problems cannot be solved effectively by discretizing individual dimensions of the action space due to the exponentially large number of bins over which policies would have to be learned. In this paper, we draw inspiration from the recent success of sequence-to-sequence models for structured prediction problems to develop policies over discretized spaces. Central to this method is the realization that complex functions over high dimensional spaces can be modeled by neural networks that predict one dimension at a time. Specifically, we show how Q-values and policies over continuous spaces can be modeled using a next step prediction model over discretized dimensions. With this parameterization, it is possible to both leverage the compositional structure of action spaces during learning, as well as compute maxima over action spaces (approximately). On a simple example task we demonstrate empirically that our method can perform global search, which effectively gets around the local optimization issues that plague DDPG. We apply the technique to off-policy (Q-learning) methods and show that our method can achieve the state-of-the-art for off-policy methods on several continuous control tasks. Despite the recent advances of deep reinforcement learning (DRL), agents trained by DRL tend to be brittle and sensitive to the training environment, especially in the multi-agent scenarios. In the multi-agent setting, a DRL agent’s policy can easily get stuck in a poor local optima w.r.t. its training partners – the learned policy may be only locally optimal to other agents’ current policies. In this paper, we focus on the problem of training robust DRL agents with continuous actions in the multi-agent learning setting so that the trained agents can still generalize when its opponents’ policies alter. To tackle this problem, we proposed a new algorithm, MiniMax Multi-agent Deep Deterministic Policy Gradient (M3DDPG) with the following contributions: (1) we introduce a minimax extension of the popular multi-agent deep deterministic policy gradient algorithm (MADDPG), for robust policy learning; (2) since the continuous action space leads to computational intractability in our minimax learning objective, we propose Multi-Agent Adversarial Learning (MAAL) to efficiently solve our proposed formulation. We empirically evaluate our M3DDPG algorithm in four mixed cooperative and competitive multi-agent environments and the agents trained by our method significantly outperforms existing baselines. We consider a dynamic multichannel access problem, where multiple correlated channels follow an unknown joint Markov model and users select the channel to transmit data. The objective is to find a policy that maximizes the expected long-term number of successful transmissions. The problem is formulated as a partially observable Markov decision process with unknown system dynamics. To overcome the challenges of unknown dynamics and prohibitive computation, we apply the concept of reinforcement learning and implement a deep Q-network (DQN). We first study the optimal policy for fixed-pattern channel switching with known system dynamics and show through simulations that DQN can achieve the same optimal performance without knowing the system statistics. We then compare the performance of DQN with a Myopic policy and a Whittle Index-based heuristic through both more general simulations as well as real data trace and show that DQN achieves near-optimal performance in more complex situations. Finally, we propose an adaptive DQN approach with the capability to adapt its learning in time-varying scenarios. These lecture notes highlight the mathematical and computational structure relating to the formulation of, and development of algorithms for, the Bayesian approach to inverse problems in differential equations. This approach is fundamental in the quantification of uncertainty within applications in volving the blending of mathematical models with data. The finite dimensional situation is described first, along with some motivational examples. Then the development of probability measures on separable Banach space is undertaken, using a random series over an infinite set of functions to construct draws; these probability measures are used as priors in the Bayesian approach to inverse problems. Regularity of draws from the priors is studied in the natural Sobolev or Besov spaces implied by the choice of functions in the random series construction, and the Kolmogorov continuity theorem is used to extend regularity considerations to the space of Holder continuous functions. Bayes’ theorem is de rived in this prior setting, and here interpreted as finding conditions under which the posterior is absolutely continuous with respect to the prior, and determining a formula for the Radon-Nikodym derivative in terms of the likelihood of the data. Having established the form of the posterior, we then describe various properties common to it in the infinite dimensional setting. These properties include well-posedness, approximation theory, and the existence of maximum a posteriori estimators. We then describe measure-preserving dynamics, again on the infinite dimensional space, including Markov chain-Monte C arlo and sequential Monte Carlo methods, and measure-preserving reversible stochastic differential equations. By formulating the theory and algorithms on the underlying infinite dimensional space, we obtain a framework suitable for rigorous analysis of the accuracy of reconstructions, of computational complexity, as well as naturally constructing algorithms which perform well under mesh refinement, since they are inherently well-defined in infinite dimensions.