This paper investigates the use of deep reinforcement learning (DRL) in the design of a "universal" MAC protocol referred to as Deep-reinforcement Learning Multiple Access (DLMA). The design framework is partially inspired by the vision of DARPA SC2, a 3-year competition whereby competitors are to come up with a clean-slate design that "best share spectrum with any network(s), in any environment, without prior knowledge, leveraging on machine-learning technique". While the scope of DARPA SC2 is broad and involves the redesign of PHY, MAC, and Network layers, this paper's focus is narrower and only involves the MAC design. In particular, we consider the problem of sharing time slots among a multiple of time-slotted networks that adopt different MAC protocols. One of the MAC protocols is DLMA. The other two are TDMA and ALOHA. The DRL agents of DLMA do not know that the other two MAC protocols are TDMA and ALOHA. Yet, by a series of observations of the environment, its own actions, and the rewards - in accordance with the DRL algorithmic framework - a DRL agent can learn the optimal MAC strategy for harmonious co-existence with TDMA and ALOHA nodes. In particular, the use of neural networks in DRL (as opposed to traditional reinforcement learning) allows for fast convergence to optimal solutions and robustness against perturbation in hyper- parameter settings, two essential properties for practical deployment of DLMA in real wireless networks.
RL is a machine-learning paradigm, where agents learn successful strategies that yield the largest long-term reward from trial-and-error interactions with their environment @cite_5 . The most representative RL algorithm is the Q-learning algorithm @cite_1 . Q-learning can learn a good policy by updating an action-value function, referred to as the Q function, without an operating model of the environment. When the state-action space is large and complex, deep neural networks can be used to approximate the Q function and the corresponding algorithm is called DRL @cite_16 . This work employs DRL to speed up convergence and increase the robustness of DLMA (see our results Section ).
@cite_5 @cite_16 @cite_1
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This letter proposes a new reinforcement learning (RL) paradigm that explicitly takes into account input disturbance as well as modeling errors. The use of environmental models in RL is quite popular for both offline learning using simulations and for online action planning. However, the difference between the model and the real environment can lead to unpredictable, and often unwanted, results. Based on the theory of H∞ control, we consider a differential game in which a "disturbing" agent tries to make the worst possible disturbance while a "control" agent tries to make the best control input. The problem is formulated as finding a min-max solution of a value function that takes into account the amount of the reward and the norm of the disturbance. We derive online learning algorithms for estimating the value function and for calculating the worst disturbance and the best control in reference to the value function. We tested the paradigm, which we call robust reinforcement learning (RRL), on the control task of an inverted pendulum. In the linear domain, the policy and the value function learned by online algorithms coincided with those derived analytically by the linear H∞ control theory. For a fully nonlinear swing-up task, RRL achieved robust performance with changes in the pendulum weight and friction, while a standard reinforcement learning algorithm could not deal with these changes. We also applied RRL to the cart-pole swing-up task, and a robust swing-up policy was acquired. Many real-world problems, such as network packet routing and urban traffic control, are naturally modeled as multi-agent reinforcement learning (RL) problems. However, existing multi-agent RL methods typically scale poorly in the problem size. Therefore, a key challenge is to translate the success of deep learning on single-agent RL to the multi-agent setting. A major stumbling block is that independent Q-learning, the most popular multi-agent RL method, introduces nonstationarity that makes it incompatible with the experience replay memory on which deep Q-learning relies. This paper proposes two methods that address this problem: 1) using a multi-agent variant of importance sampling to naturally decay obsolete data and 2) conditioning each agent's value function on a fingerprint that disambiguates the age of the data sampled from the replay memory. Results on a challenging decentralised variant of StarCraft unit micromanagement confirm that these methods enable the successful combination of experience replay with multi-agent RL. We present PRM-RL, a hierarchical method for long-range navigation task completion that combines sampling-based path planning with reinforcement learning (RL). The RL agents learn short-range, point-to-point navigation policies that capture robot dynamics and task constraints without knowledge of the large-scale topology. Next, the sampling-based planners provide roadmaps which connect robot configurations that can be successfully navigated by the RL agent. The same RL agents are used to control the robot under the direction of the planning, enabling long-range navigation. We use the Probabilistic Roadmaps (PRMs) for the sampling-based planner. The RL agents are constructed using feature-based and deep neural net policies in continuous state and action spaces. We evaluate PRM-RL, both in simulation and on-robot, on two navigation tasks with non-trivial robot dynamics: end-to-end differential drive indoor navigation in office environments, and aerial cargo delivery in urban environments with load displacement constraints. Our results show improvement in task completion over both RL agents on their own and traditional sampling-based planners. In the indoor navigation task, PRM-RL successfully completes up to 215 m long trajectories under noisy sensor conditions, and the aerial cargo delivery completes flights over 1000 m without violating the task constraints in an environment 63 million times larger than used in training. We introduce an approach for deep reinforcement learning (RL) that improves upon the efficiency, generalization capacity, and interpretability of conventional approaches through structured perception and relational reasoning. It uses self-attention to iteratively reason about the relations between entities in a scene and to guide a model-free policy. Our results show that in a novel navigation and planning task called Box-World, our agent finds interpretable solutions that improve upon baselines in terms of sample complexity, ability to generalize to more complex scenes than experienced during training, and overall performance. In the StarCraft II Learning Environment, our agent achieves state-of-the-art performance on six mini-games -- surpassing human grandmaster performance on four. By considering architectural inductive biases, our work opens new directions for overcoming important, but stubborn, challenges in deep RL.