Using Explainable Artificial Intelligence to Improve Transparency of Reinforcement Learning for Online Adaptive Flight Control: Breaking Open the Black Box

Deep Reinforcement Learning (DRL) shows great potential for flight control, due to its adaptability, fault-tolerance, and as it does not require an accurate system model. However, these techniques, like many machine learning applications, are considered black-box as their inner workings are hidden. This paper aims to break open the black box of...

Sample-efficient multi-agent reinforcement learning using learned world models

Multi-agent robotic systems could benefit from reinforcement learning algorithms that are able to learn behaviours in a small number trials, a property known as sample efficiency. This research investigates the use of learned world models to create more sample-efficient algorithms. We present a novel multi-agent model-based reinforcement...

Deep Reinforcement Learning for Goal-directed Visual Navigation

Safe navigation in a cluttered environment is a key capability for the autonomous operation of Micro Aerial Vehicles (MAVs). This work explores a (deep) Reinforcement Learning (RL) based approach for monocular vision based obstacle avoidance and goal directed navigation for MAVs in cluttered environments. We investigated this problem in the...

Consolidated Deep Actor Critic Networks

The works [Volodymyr et al. Playing atari with deep reinforcement learning. arXiv preprint arXiv:1312.5602, 2013.] and [Volodymyr et al. Human-level control through deep reinforcement learning. Nature, 518(7540):529–533, 2015.] have demonstrated the power of combining deep neural networks with Watkins Q learning. They introduce deep Q networks ...