With large-scale integration of renewable generation and ubiquitous distributed energy resources (DERs), modern power systems confront a series of new challenges in operation and control, such as growing complexity, increasing uncertainty, and aggravating volatility. While the upside is that more and more data are available owing to the widely-deployed smart meters, smart sensors, and upgraded communication networks. As a result, data-driven control techniques, especially reinforcement learning (RL), have attracted surging attention in recent years. In this paper, we focus on RL and aim to provide a tutorial on various RL techniques and how they can be applied to the decision-making and control in power systems. In particular, we select three key applications, including frequency regulation, voltage control, and energy management, for illustration, and present the typical ways to model and tackle them with RL methods. We conclude by emphasizing two critical issues in the application of RL, i.e., safety and scalability. Several potential future directions are discussed as well.

For highly automated driving above SAE level~3, behavior generation algorithms must reliably consider the inherent uncertainties of the traffic environment, e.g. arising from the variety of human driving styles. Such uncertainties can generate ambiguous decisions, requiring the algorithm to appropriately balance low-probability hazardous events, e.g. collisions, and high-probability beneficial events, e.g. quickly crossing the intersection. State-of-the-art behavior generation algorithms lack a distributional treatment of decision outcome. This impedes a proper risk evaluation in ambiguous situations, often encouraging either unsafe or conservative behavior. Thus, we propose a two-step approach for risk-sensitive behavior generation combining offline distribution learning with online risk assessment. Specifically, we first learn an optimal policy in an uncertain environment with Deep Distributional Reinforcement Learning. During execution, the optimal risk-sensitive action is selected by applying established risk criteria, such as the Conditional Value at Risk, to the learned state-action return distributions. In intersection crossing scenarios, we evaluate different risk criteria and demonstrate that our approach increases safety, while maintaining an active driving style. Our approach shall encourage further studies about the benefits of risk-sensitive approaches for self-driving vehicles.

A core element in decision-making under uncertainty is the feedback on the quality of the performed actions. However, in many applications, such feedback is restricted. For example, in recommendation systems, repeatedly asking the user to provide feedback on the quality of recommendations will annoy them. In this work, we formalize decision-making problems with querying budget, where there is a (possibly time-dependent) hard limit on the number of reward queries allowed. Specifically, we consider multi-armed bandits, linear bandits, and reinforcement learning problems. We start by analyzing the performance of `greedy' algorithms that query a reward whenever they can. We show that in fully stochastic settings, doing so performs surprisingly well, but in the presence of any adversity, this might lead to linear regret. To overcome this issue, we propose the Confidence-Budget Matching (CBM) principle that queries rewards when the confidence intervals are wider than the inverse square root of the available budget. We analyze the performance of CBM based algorithms in different settings and show that they perform well in the presence of adversity in the contexts, initial states, and budgets.

Testing and evaluation is a crucial step in the development and deployment of Connected and Automated Vehicles (CAVs). To comprehensively evaluate the performance of CAVs, it is of necessity to test the CAVs in safety-critical scenarios, which rarely happen in naturalistic driving environment. Therefore, how to purposely and systematically generate these corner cases becomes an important problem. Most existing studies focus on generating adversarial examples for perception systems of CAVs, whereas limited efforts have been put on the decision-making systems, which is the highlight of this paper. As the CAVs need to interact with numerous background vehicles (BVs) for a long duration, variables that define the corner cases are usually high dimensional, which makes the generation a challenging problem. In this paper, a unified framework is proposed to generate corner cases for the decision-making systems. To address the challenge brought by high dimensionality, the driving environment is formulated based on Markov Decision Process, and the deep reinforcement learning techniques are applied to learn the behavior policy of BVs. With the learned policy, BVs will behave and interact with the CAVs more aggressively, resulting in more corner cases. To further analyze the generated corner cases, the techniques of feature extraction and clustering are utilized. By selecting representative cases of each cluster and outliers, the valuable corner cases can be identified from all generated corner cases. Simulation results of a highway driving environment show that the proposed methods can effectively generate and identify the valuable corner cases.

In recent years, multi-agent deep reinforcement learning has been successfully applied to various complicated scenarios such as computer games and robot swarms. We thoroughly study and compare the state-of-the-art cooperative multi-agent deep reinforcement learning algorithms. Specifically, we investigate the consequences of the "hyperparameter tricks" of QMIX and its improved variants. Our results show that: (1) The significant performance improvements of these variant algorithms come from hyperparameter-level optimizations in their open-source codes (2) After modest tuning and with no changes to the network architecture, QMIX can attain extraordinarily high win rates in all hard and super hard scenarios of StarCraft Multi-Agent Challenge (SMAC) and achieve state-of-the-art (SOTA). In this work, we proposed a reliable QMIX benchmark, which will be of great benefit to subsequent research. Besides, we proposed a hypothesis to explain the excellent performance of QMIX.

Modern radio telescopes produce unprecedented amounts of data, which are passed through many processing pipelines before the delivery of scientific results. Hyperparameters of these pipelines need to be tuned by hand to produce optimal results. Because many thousands of observations are taken during a lifetime of a telescope and because each observation will have its unique settings, the fine tuning of pipelines is a tedious task. In order to automate this process of hyperparameter selection in data calibration pipelines, we introduce the use of reinforcement learning. We use a reinforcement learning technique called twin delayed deep deterministic policy gradient (TD3) to train an autonomous agent to perform this fine tuning. For the sake of generalization, we consider the pipeline to be a black-box system where only an interpreted state of the pipeline is used by the agent. The autonomous agent trained in this manner is able to determine optimal settings for diverse observations and is therefore able to perform 'smart' calibration, minimizing the need for human intervention.

Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging. Traditional algorithms like A* can plan collision-free trajectories in static environment, but their performance degrades and computational cost increases steeply in dense and dynamic scenarios. Optimal-value reinforcement learning algorithms (RL) can address these problems but suffer slow speed and instability in network convergence. Network of policy gradient RL converge fast in Atari games where action is discrete and finite, but few works have been done to address problems where continuous actions and large action space are required. In this paper, we modify existing advantage actor-critic algorithm and suit it to complex motion planning, therefore optimal speeds and directions of robot are generated. Experimental results demonstrate that our algorithm converges faster and stable than optimal-value RL. It achieves higher success rate in motion planning with lesser processing time for robot to reach its goal.

Interaction-aware planning for autonomous driving requires an exploration of a combinatorial solution space when using conventional search- or optimization-based motion planners. With Deep Reinforcement Learning, optimal driving strategies for such problems can be derived also for higher-dimensional problems. However, these methods guarantee optimality of the resulting policy only in a statistical sense, which impedes their usage in safety critical systems, such as autonomous vehicles. Thus, we propose the Experience-Based-Heuristic-Search algorithm, which overcomes the statistical failure rate of a Deep-reinforcement-learning-based planner and still benefits computationally from the pre-learned optimal policy. Specifically, we show how experiences in the form of a Deep Q-Network can be integrated as heuristic into a heuristic search algorithm. We benchmark our algorithm in the field of path planning in semi-structured valet parking scenarios. There, we analyze the accuracy of such estimates and demonstrate the computational advantages and robustness of our method. Our method may encourage further investigation of the applicability of reinforcement-learning-based planning in the field of self-driving vehicles.

In this paper, we study the problem of deceptive reinforcement learning to preserve the privacy of a reward function. Reinforcement learning is the problem of finding a behaviour policy based on rewards received from exploratory behaviour. A key ingredient in reinforcement learning is a reward function, which determines how much reward (negative or positive) is given and when. However, in some situations, we may want to keep a reward function private; that is, to make it difficult for an observer to determine the reward function used. We define the problem of privacy-preserving reinforcement learning, and present two models for solving it. These models are based on dissimulation -- a form of deception that `hides the truth'. We evaluate our models both computationally and via human behavioural experiments. Results show that the resulting policies are indeed deceptive, and that participants can determine the true reward function less reliably than that of an honest agent.

We investigate and analyze principles of typical motion planning algorithms. These include traditional planning algorithms, supervised learning, optimal value reinforcement learning, policy gradient reinforcement learning. Traditional planning algorithms we investigated include graph search algorithms, sampling-based algorithms, and interpolating curve algorithms. Supervised learning algorithms include MSVM, LSTM, MCTS and CNN. Optimal value reinforcement learning algorithms include Q learning, DQN, double DQN, dueling DQN. Policy gradient algorithms include policy gradient method, actor-critic algorithm, A3C, A2C, DPG, DDPG, TRPO and PPO. New general criteria are also introduced to evaluate performance and application of motion planning algorithms by analytical comparisons. Convergence speed and stability of optimal value and policy gradient algorithms are specially analyzed. Future directions are presented analytically according to principles and analytical comparisons of motion planning algorithms. This paper provides researchers with a clear and comprehensive understanding about advantages, disadvantages, relationships, and future of motion planning algorithms in robotics, and paves ways for better motion planning algorithms.