Experience Filtering for Robot Navigation using Deep Reinforcement Learning

Phong Nguyen, Takayuki Akiyama, Hiroki Ohashi

Abstract

We propose a stochastic method of storing a new experience into replay memory to increase the performance of the Deep Q-learning (DQL) algorithm, especially under the condition of a small memory. The conventional standard DQL method with the Prioritized Experience Replay method attempts to use experiences in the replay memory for improving learning efficiency; however, it does not guarantee the diversity of experience in the replay memory. Our method calculates the similarity of a new experience with other existing experiences in the memory based on a distance function and determines whether to store this new experience stochastically. This method leads to the improvement in experience diversity in the replay memory and better utilization of rare experiences during the training process. In an experiment to train a moving robot, our proposed method improved the performance of the standard DQL algorithm with a memory buffer of less than 10,000 stored experiences.

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Paper Citation


in Harvard Style

Nguyen P., Akiyama T. and Ohashi H. (2018). Experience Filtering for Robot Navigation using Deep Reinforcement Learning.In Proceedings of the 10th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-275-2, pages 243-249. DOI: 10.5220/0006671802430249


in Bibtex Style

@conference{icaart18,
author={Phong Nguyen and Takayuki Akiyama and Hiroki Ohashi},
title={Experience Filtering for Robot Navigation using Deep Reinforcement Learning},
booktitle={Proceedings of the 10th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2018},
pages={243-249},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006671802430249},
isbn={978-989-758-275-2},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Experience Filtering for Robot Navigation using Deep Reinforcement Learning
SN - 978-989-758-275-2
AU - Nguyen P.
AU - Akiyama T.
AU - Ohashi H.
PY - 2018
SP - 243
EP - 249
DO - 10.5220/0006671802430249