Liu, Dora D., Hu, Liang, Zhang, Qi, Ye, Tangwei, Naseem, Usman, and Lai, Zhong Yuan (2023) A Dynamics and Task Decoupled Reinforcement Learning Architecture for High-Efficiency Dynamic Target Intercept. In: Proceedings of the 37th AAAI Conference on Articicial Intelligence (37) pp. 12049-12057. From: 37th AAAI Conference on Artificial Intelligence, 7-14 February 2023, Washington, DC, USA.

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Abstract

Due to the flexibility and ease of control, unmanned aerial vehicles (UAVs) have been increasingly used in various scenarios and applications in recent years. Training UAVs with reinforcement learning (RL) for a specific task is often expensive in terms of time and computation. However, it is known that the main effort of the learning process is made to fit the low-level physical dynamics systems instead of the high-level task itself. In this paper, we study to apply UAVs in the dynamic target intercept (DTI) task, where the dynamics systems equipped by different UAV models are correspondingly distinct. To this end, we propose a dynamics and task decoupled RL architecture to address the inefficient learning procedure, where the RL module focuses on modeling the DTI task without involving physical dynamics, and the design of states, actions, and rewards are completely task-oriented while the dynamics control module can adaptively convert actions from the RL module to dynamics signals to control different UAVs without retraining the RL module. We show the efficiency and efficacy of our results in comparison and ablation experiments against state-of-the-art methods.

Item ID:	79224
Item Type:	Conference Item (Research - E1)
ISBN:	978-1-57735-880-0
Copyright Information:	© 2023, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
Date Deposited:	12 Oct 2023 02:00
FoR Codes:	46 INFORMATION AND COMPUTING SCIENCES > 4605 Data management and data science > 460501 Data engineering and data science @ 50% 46 INFORMATION AND COMPUTING SCIENCES > 4602 Artificial intelligence > 460299 Artificial intelligence not elsewhere classified @ 50%
SEO Codes:	22 INFORMATION AND COMMUNICATION SERVICES > 2204 Information systems, technologies and services > 220403 Artificial intelligence @ 100%
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