The team relied on the machine learning technique called reinforcement learning to get around this problem.

Training robots to complete tasks in the real-world can be a very time-consuming process, which involves building a fast and efficient simulator, performing numerous trials on it, and then transferring the behaviors learned during these trials to the real world. In many cases, however, the performance achieved in simulations does not match the one attained in the real-world, due to unpredictable changes in the environment or task. Researchers at the University of California, Berkeley (UC Berkeley) have recently developed DayDreamer, a tool that could be used to train robots to complete real-world tasks more effectively. Their approach, introduced in a paper pre-published on arXiv, is based on learning models of the world that allow robots to predict the outcomes of their movements and actions, reducing the need for extensive trial and error training in the real-world. "We wanted to build robots that continuously learn directly in the real world, without having to create a simulation environment," Danijar Hafner, one of the researchers who carried out the study, told TechXplore.

Modern distributed systems are supported by fault-tolerant algorithms, like Reliable Broadcast and Consensus, that assure the correct operation of the system even when some of the nodes of the system fail. However, the development of distributed algorithms is a manual and complex process, resulting in scientific papers that usually present a single algorithm or variations of existing ones. To automate the process of developing such algorithms, this work presents an intelligent agent that uses Reinforcement Learning to generate correct and efficient fault-tolerant distributed algorithms. We show that our approach is able to generate correct fault-tolerant Reliable Broadcast algorithms with the same performance of others available in the literature, in only 12,000 learning episodes.

Learning robotic tasks in the real world is still highly challenging and effective practical solutions remain to be found. Traditional methods used in this area are imitation learning and reinforcement learning, but they both have limitations when applied to real robots. Combining reinforcement learning with pre-collected demonstrations is a promising approach that can help in learning control policies to solve robotic tasks. In this paper, we propose an algorithm that uses novel techniques to leverage offline expert data using offline and online training to obtain faster convergence and improved performance. The proposed algorithm (AWET) weights the critic losses with a novel agent advantage weight to improve over the expert data. In addition, AWET makes use of an automatic early termination technique to stop and discard policy rollouts that are not similar to expert trajectories -- to prevent drifting far from the expert data. In an ablation study, AWET showed improved and promising performance when compared to state-of-the-art baselines on four standard robotic tasks.

Traditional multicast routing methods have some problems in constructing a multicast tree, such as limited access to network state information, poor adaptability to dynamic and complex changes in the network, and inflexible data forwarding. To address these defects, the optimal multicast routing problem in software-defined networking (SDN) is tailored as a multi-objective optimization problem, and an intelligent multicast routing algorithm DRL-M4MR based on the deep Q network (DQN) deep reinforcement learning (DRL) method is designed to construct a multicast tree in SDN. First, the multicast tree state matrix, link bandwidth matrix, link delay matrix, and link packet loss rate matrix are designed as the state space of the DRL agent by combining the global view and control of the SDN. Second, the action space of the agent is all the links in the network, and the action selection strategy is designed to add the links to the current multicast tree under four cases. Third, single-step and final reward function forms are designed to guide the intelligence to make decisions to construct the optimal multicast tree. The experimental results show that, compared with existing algorithms, the multicast tree construct by DRL-M4MR can obtain better bandwidth, delay, and packet loss rate performance after training, and it can make more intelligent multicast routing decisions in a dynamic network environment.

State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap has mostly been overlooked and the simulated results hardly transfer to real hardware. Either it is unsuccessful in practice because the physics is over-simplified and hardware limitations are ignored, or regularity is not guaranteed, and unexpected hazardous motions can occur. This paper presents a reinforcement learning framework capable of learning robust standing push recovery for bipedal robots that smoothly transfer to reality, providing only instantaneous proprioceptive observations. By combining original termination conditions and policy smoothness conditioning, we achieve stable learning, sim-to-real transfer and safety using a policy without memory nor explicit history. Reward engineering is then used to give insights into how to keep balance. We demonstrate its performance in reality on the lower-limb medical exoskeleton Atalante.

The metaverse has the potential to revolutionize the next generation of the Internet by supporting highly interactive services with the help of Mixed Reality (MR) technologies; still, to provide a satisfactory experience for users, the synchronization between the physical world and its digital models is crucial. This work proposes a sampling, communication and prediction co-design framework to minimize the communication load subject to a constraint on tracking the Mean Squared Error (MSE) between a real-world device and its digital model in the metaverse. To optimize the sampling rate and the prediction horizon, we exploit expert knowledge and develop a constrained Deep Reinforcement Learning (DRL) algorithm, named Knowledge-assisted Constrained Twin-Delayed Deep Deterministic (KC-TD3) policy gradient algorithm. We validate our framework on a prototype composed of a real-world robotic arm and its digital model. Compared with existing approaches: (1) When the tracking error constraint is stringent (MSE=0.002 degrees), our policy degenerates into the policy in the sampling-communication co-design framework. (2) When the tracking error constraint is mild (MSE=0.007 degrees), our policy degenerates into the policy in the prediction-communication co-design framework. (3) Our framework achieves a better trade-off between the average MSE and the average communication load compared with a communication system without sampling and prediction. For example, the average communication load can be reduced up to 87% when the track error constraint is 0.002 degrees. (4) Our policy outperforms the benchmark with the static sampling rate and prediction horizon optimized by exhaustive search, in terms of the tail probability of the tracking error. Furthermore, with the assistance of expert knowledge, the proposed algorithm KC-TD3 achieves better convergence time, stability, and final policy performance.

Abstract-- Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet challenging task in the context of human-robot interaction. While existing learning-based methods have achieved better performance than the preceding model-based ones, they still have drawbacks: reinforcement learning depends on the handcrafted reward that is unlikely to effectively quantify broad social compliance, and can lead to reward exploitation problems; meanwhile, inverse reinforcement learning suffers from the need for expensive human demonstrations. Another problem stemming increasingly enabling robots to work in environments that form handcrafted rewards is reward exploitation, that is, necessitate human-robot interaction (HRI). Delivery robots robots learn to achieve high rewards via some undesired and around university campuses, guide robots in shopping malls, unnatural action that impairs human comfort. On the other elder care robots at nursing homes, and other such applications hand, IRL methods, where a policy or reward is learned from all require robots to perform socially aware navigation human demonstrations, can avoid reward engineering and in human-rich environments, wherein the robots must not exploitation and allow experts to introduce human insights only consider how to complete navigation tasks successfully and comfort into robot policy.

This paper reports on progress towards building an online language learning tool to provide learners with conversational experience by using dialog systems as conversation practice partners. Our system can adapt to users' language proficiency on the fly. We also provide automatic grammar error feedback to help users learn from their mistakes. According to our first adopters, our system is entertaining and useful. Furthermore, we will provide the learning technology community a large-scale conversation dataset on language learning and grammar correction. Our next step is to make our system more adaptive to user profile information by using reinforcement learning algorithms.

Long ago the world became a strange rock, then became biologically inhabited by a wide variety of beings. Nowadays, it is turning digital and coming across one point of singularity:::::::: If ever this highly advanced setup had become so technologically rooted and we could do almost anything with our environment but not leave it, would it haven't spread long ago the notion of simulated reality and virtual reality endlessly in a loop tied to a point of no telling any long any more anything from any something else other than we live in a simulated reality, and that infinity exists because that entire concept broke our discreet notion of reality, kind of like multiple chains of matryoshkas? That's why I wrote the long hallow text above. What was the arrow pointing at when I wished to do something with this text? To a preamble of end ego, a series about Machine Learning (chronological sequences of my day-to-day limited perception of Deep Learning, Deep Reinforcement Learning, and Mathematics, I will make word noodles off and present them as top-tier beautiful work.