Velocity-History-Based Soft Actor-Critic Tackling IROS'24 Competition "AI Olympics with RealAIGym"
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910670765686784 |
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| author | Faust, Tim Lukas Maraqten, Habib Aghadavoodi, Erfan Belousov, Boris Peters, Jan |
| author_facet | Faust, Tim Lukas Maraqten, Habib Aghadavoodi, Erfan Belousov, Boris Peters, Jan |
| contents | The ``AI Olympics with RealAIGym'' competition challenges participants to stabilize chaotic underactuated dynamical systems with advanced control algorithms. In this paper, we present a novel solution submitted to IROS'24 competition, which builds upon Soft Actor-Critic (SAC), a popular model-free entropy-regularized Reinforcement Learning (RL) algorithm. We add a `context' vector to the state, which encodes the immediate history via a Convolutional Neural Network (CNN) to counteract the unmodeled effects on the real system. Our method achieves high performance scores and competitive robustness scores on both tracks of the competition: Pendubot and Acrobot. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_20096 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Velocity-History-Based Soft Actor-Critic Tackling IROS'24 Competition "AI Olympics with RealAIGym" Faust, Tim Lukas Maraqten, Habib Aghadavoodi, Erfan Belousov, Boris Peters, Jan Robotics The ``AI Olympics with RealAIGym'' competition challenges participants to stabilize chaotic underactuated dynamical systems with advanced control algorithms. In this paper, we present a novel solution submitted to IROS'24 competition, which builds upon Soft Actor-Critic (SAC), a popular model-free entropy-regularized Reinforcement Learning (RL) algorithm. We add a `context' vector to the state, which encodes the immediate history via a Convolutional Neural Network (CNN) to counteract the unmodeled effects on the real system. Our method achieves high performance scores and competitive robustness scores on both tracks of the competition: Pendubot and Acrobot. |
| title | Velocity-History-Based Soft Actor-Critic Tackling IROS'24 Competition "AI Olympics with RealAIGym" |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.20096 |