UAV-Assisted Dynamic Avatar Task Migration for Vehicular Metaverse Services: A Multi-Agent Deep Reinforcement Learning Approach

Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metaverses. However, avatar tasks include a multitude of human-to-avatar and avatar-to-avatar interactive applications, e.g., augmented reality navigation,which consumes intensive computing resources. It is inefficient and impractical for vehicles to process avatar tasks locally. Fortunately, migrating avatar tasks to the nearest roadside units(RSU)or unmanned aerial vehicles(UAV) for execution is a promising solution to decrease computation overhead and reduce task processing latency, while the high mobility of vehicles brings challenges for vehicles to independently perform avatar migration decisions depending on current and future vehicle status. To address these challenges, in this paper, we propose a novel avatar task migration system based on multi-agent deep reinforcement learning(MADRL) to execute immersive vehicular avatar tasks dynamically. Specifically, we first formulate the problem of avatar task migration from vehicles to RSUs/UAVs as a partially observable Markov decision process that can be solved by MADRL algorithms. We then design the multi-agent proximal policy optimization(MAPPO) approach as the MADRL algorithm for the avatar task migration problem. To overcome slow convergence resulting from the curse of dimensionality and non-stationary issues caused by shared parameters in MAPPO, we further propose a transformer-based MAPPO approach via sequential decision-making models for the efficient representation of relationships among agents. Finally, to motivate terrestrial or non-terrestrial edge servers(e.g., RSUs or UAVs) to share computation resources and ensure traceability of the sharing records, we apply smart contracts and blockchain technologies to achieve secure sharing management. Numerical results demonstrate that the proposed approach outperforms the MAPPO approach by around 2% and effectively reduces approximately 20% of the latency of avatar task execution in UAV-assisted vehicular Metaverses.

Cognitive interference decision method for air defense missile fuze based on reinforcement learning

To solve the problem of the low interference success rate of air defense missile radio fuzes due to the unified interference form of the traditional fuze interference system,an interference decision method based Q-learning algorithm is proposed.First,dividing the distance between the missile and the target into multiple states to increase the quantity of state spaces.Second,a multidimensional motion space is utilized,and the search range of which changes with the distance of the projectile,to select parameters and minimize the amount of ineffective interference parameters.The interference effect is determined by detecting whether the fuze signal disappears.Finally,a weighted reward function is used to determine the reward value based on the range state,output power,and parameter quantity information of the interference form.The effectiveness of the proposed method in selecting the range of motion space parameters and designing the discrimination degree of the reward function has been verified through offline experiments involving full-range missile rendezvous.The optimal interference form for each distance state has been obtained.Compared with the single-interference decision method,the proposed decision method can effectively improve the success rate of interference.

Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced Control Applications

Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.

Bridge Bidding via Deep Reinforcement Learning and Belief Monte Carlo Search

Contract Bridge,a four-player imperfect information game,comprises two phases:bidding and playing.While computer programs excel at playing,bidding presents a challenging aspect due to the need for information exchange with partners and interference with communication of opponents.In this work,we introduce a Bridge bidding agent that combines supervised learning,deep reinforcement learning via self-play,and a test-time search approach.Our experiments demonstrate that our agent outperforms WBridge5,a highly regarded computer Bridge software that has won multiple world championships,by a performance of 0.98 IMPs(international match points)per deal over 10000 deals,with a much cost-effective approach.The performance significantly surpasses previous state-of-the-art(0.85 IMPs per deal).Note 0.1 IMPs per deal is a significant improvement in Bridge bidding.

Distributed Graph Database Load Balancing Method Based on Deep Reinforcement Learning

This paper focuses on the scheduling problem of workflow tasks that exhibit interdependencies.Unlike indepen-dent batch tasks,workflows typically consist of multiple subtasks with intrinsic correlations and dependencies.It necessitates the distribution of various computational tasks to appropriate computing node resources in accor-dance with task dependencies to ensure the smooth completion of the entire workflow.Workflow scheduling must consider an array of factors,including task dependencies,availability of computational resources,and the schedulability of tasks.Therefore,this paper delves into the distributed graph database workflow task scheduling problem and proposes a workflow scheduling methodology based on deep reinforcement learning(DRL).The method optimizes the maximum completion time(makespan)and response time of workflow tasks,aiming to enhance the responsiveness of workflow tasks while ensuring the minimization of the makespan.The experimental results indicate that the Q-learning Deep Reinforcement Learning(Q-DRL)algorithm markedly diminishes the makespan and refines the average response time within distributed graph database environments.In quantifying makespan,Q-DRL achieves mean reductions of 12.4%and 11.9%over established First-fit and Random scheduling strategies,respectively.Additionally,Q-DRL surpasses the performance of both DRL-Cloud and Improved Deep Q-learning Network(IDQN)algorithms,with improvements standing at 4.4%and 2.6%,respectively.With reference to average response time,the Q-DRL approach exhibits a significantly enhanced performance in the scheduling of workflow tasks,decreasing the average by 2.27%and 4.71%when compared to IDQN and DRL-Cloud,respectively.The Q-DRL algorithm also demonstrates a notable increase in the efficiency of system resource utilization,reducing the average idle rate by 5.02%and 9.30%in comparison to IDQN and DRL-Cloud,respectively.These findings support the assertion that Q-DRL not only upholds a lower average idle rate but also effectively curtails the average response time,thereby substantially improving processing efficiency and optimizing resource utilization within distributed graph database systems.

Nano-scale Reinforcements and Properties of Al-Si-Cu Alloy Processed by High-Pressure Torsion

To improve the comprehensive mechanical properties of Al-Si-Cu alloy,it was treated by a high-pressure torsion process,and the effect of the deformation degree on the microstructure and properties of the Al-Si-Cu alloy was studied.The results show that the reinforcements(β-Si andθ-CuAl_(2)phases)of the Al-Si-Cu alloy are dispersed in theα-Al matrix phase with finer phase size after the treatment.The processed samples exhibit grain sizes in the submicron or even nanometer range,which effectively improves the mechanical properties of the material.The hardness and strength of the deformed alloy are both significantly raised to 268 HV and 390.04 MPa by 10 turns HPT process,and the fracture morphology shows that the material gradually transits from brittle to plastic before and after deformation.The elements interdiffusion at the interface between the phases has also been effectively enhanced.In addition,it is found that the severe plastic deformation at room temperature induces a ternary eutectic reaction,resulting in the formation of ternary Al+Si+CuAl_(2)eutectic.

QoS Routing Optimization Based on Deep Reinforcement Learning in SDN

To enhance the efficiency and expediency of issuing e-licenses within the power sector, we must confront thechallenge of managing the surging demand for data traffic. Within this realm, the network imposes stringentQuality of Service (QoS) requirements, revealing the inadequacies of traditional routing allocation mechanismsin accommodating such extensive data flows. In response to the imperative of handling a substantial influx of datarequests promptly and alleviating the constraints of existing technologies and network congestion, we present anarchitecture forQoS routing optimizationwith in SoftwareDefinedNetwork (SDN), leveraging deep reinforcementlearning. This innovative approach entails the separation of SDN control and transmission functionalities, centralizingcontrol over data forwardingwhile integrating deep reinforcement learning for informed routing decisions. Byfactoring in considerations such as delay, bandwidth, jitter rate, and packet loss rate, we design a reward function toguide theDeepDeterministic PolicyGradient (DDPG) algorithmin learning the optimal routing strategy to furnishsuperior QoS provision. In our empirical investigations, we juxtapose the performance of Deep ReinforcementLearning (DRL) against that of Shortest Path (SP) algorithms in terms of data packet transmission delay. Theexperimental simulation results show that our proposed algorithm has significant efficacy in reducing networkdelay and improving the overall transmission efficiency, which is superior to the traditional methods.

Role Dynamic Allocation of Human-Robot Cooperation Based on Reinforcement Learning in an Installation of Curtain Wall

A real-time adaptive roles allocation method based on reinforcement learning is proposed to improve humanrobot cooperation performance for a curtain wall installation task.This method breaks the traditional idea that the robot is regarded as the follower or only adjusts the leader and the follower in cooperation.In this paper,a self-learning method is proposed which can dynamically adapt and continuously adjust the initiative weight of the robot according to the change of the task.Firstly,the physical human-robot cooperation model,including the role factor is built.Then,a reinforcement learningmodel that can adjust the role factor in real time is established,and a reward and actionmodel is designed.The role factor can be adjusted continuously according to the comprehensive performance of the human-robot interaction force and the robot’s Jerk during the repeated installation.Finally,the roles adjustment rule established above continuously improves the comprehensive performance.Experiments of the dynamic roles allocation and the effect of the performance weighting coefficient on the result have been verified.The results show that the proposed method can realize the role adaptation and achieve the dual optimization goal of reducing the sum of the cooperator force and the robot’s Jerk.

Reinforcement Learning in Process Industries:Review and Perspective

This survey paper provides a review and perspective on intermediate and advanced reinforcement learning(RL)techniques in process industries. It offers a holistic approach by covering all levels of the process control hierarchy. The survey paper presents a comprehensive overview of RL algorithms,including fundamental concepts like Markov decision processes and different approaches to RL, such as value-based, policy-based, and actor-critic methods, while also discussing the relationship between classical control and RL. It further reviews the wide-ranging applications of RL in process industries, such as soft sensors, low-level control, high-level control, distributed process control, fault detection and fault tolerant control, optimization,planning, scheduling, and supply chain. The survey paper discusses the limitations and advantages, trends and new applications, and opportunities and future prospects for RL in process industries. Moreover, it highlights the need for a holistic approach in complex systems due to the growing importance of digitalization in the process industries.

Reinforcement learning based edge computing in B5G

The development of communication technology will promote the application of Internet of Things,and Beyond 5G will become a new technology promoter.At the same time,Beyond 5G will become one of the important supports for the development of edge computing technology.This paper proposes a communication task allocation algorithm based on deep reinforcement learning for vehicle-to-pedestrian communication scenarios in edge computing.Through trial and error learning of agent,the optimal spectrum and power can be determined for transmission without global information,so as to balance the communication between vehicle-to-pedestrian and vehicle-to-infrastructure.The results show that the agent can effectively improve vehicle-to-infrastructure communication rate as well as meeting the delay constraints on the vehicle-to-pedestrian link.

Toward Trustworthy Decision-Making for Autonomous Vehicles:A Robust Reinforcement Learning Approach with Safety Guarantees

While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

The Conversion of Non-Dispersed Polymers into Low-Potassium Anti-Collapse Drilling Fluids

Different drillingfluid systems are designed according to mineral composition,lithology and wellbore stability of different strata.In the present study,the conversion of a non-dispersed polymer drillingfluid into a low potas-sium anti-collapsing drillingfluid is investigated.Since the two drillingfluids belong to completely different types,the key to this conversion is represented by new inhibitors,dispersants and water-loss agents by which a non-dispersed drillingfluid can be turned into a dispersed drillingfluid while ensuring wellbore stability and reason-able rheology(carrying sand—inhibiting cuttings dispersion).In particular,the(QYZ-1)inhibitors and(FSJSS-2)dispersants are used.The former can inhibit the hydration expansion capacity of clay,reduce the dynamic shear force and weaken the viscosity;the latter can improve the sealing effect and reduce thefiltrate loss.The results have shown that after adding a reasonable proportion of these substances(QYZ-1:FSJSS-2)to the non-dispersed polymer drillingfluid,while the apparent viscosity,plastic viscosity,structural viscosity andfluidity index under-went almost negligible changes,the dynamic plastic ratio increased,and thefiltration loss decreased significantly,thereby indicating good compatibility.According to the tests(conducted in the Leijia area),the density was 1.293 g/cm3,and after standing for 24 h,the SF(static settlement factor)was 0.51.Moreover,thefiltration loss was reduced to 4.0 mL,the rolling recovery rate reached 96.92%,with excellent plugging and anti-collapse performances.

Continual Reinforcement Learning for Intelligent Agricultural Management under Climate Changes

Climate change poses significant challenges to agricultural management,particularly in adapting to extreme weather conditions that impact agricultural production.Existing works with traditional Reinforcement Learning(RL)methods often falter under such extreme conditions.To address this challenge,our study introduces a novel approach by integrating Continual Learning(CL)with RL to form Continual Reinforcement Learning(CRL),enhancing the adaptability of agricultural management strategies.Leveraging the Gym-DSSAT simulation environment,our research enables RL agents to learn optimal fertilization strategies based on variable weather conditions.By incorporating CL algorithms,such as Elastic Weight Consolidation(EWC),with established RL techniques like Deep Q-Networks(DQN),we developed a framework in which agents can learn and retain knowledge across diverse weather scenarios.The CRL approach was tested under climate variability to assess the robustness and adaptability of the induced policies,particularly under extreme weather events like severe droughts.Our results showed that continually learned policies exhibited superior adaptability and performance compared to optimal policies learned through the conventional RL methods,especially in challenging conditions of reduced rainfall and increased temperatures.This pioneering work,which combines CL with RL to generate adaptive policies for agricultural management,is expected to make significant advancements in precision agriculture in the era of climate change.

Combining reinforcement learning with mathematical programming:An approach for optimal design of heat exchanger networks

Heat integration is important for energy-saving in the process industry.It is linked to the persistently challenging task of optimal design of heat exchanger networks(HEN).Due to the inherent highly nonconvex nonlinear and combinatorial nature of the HEN problem,it is not easy to find solutions of high quality for large-scale problems.The reinforcement learning(RL)method,which learns strategies through ongoing exploration and exploitation,reveals advantages in such area.However,due to the complexity of the HEN design problem,the RL method for HEN should be dedicated and designed.A hybrid strategy combining RL with mathematical programming is proposed to take better advantage of both methods.An insightful state representation of the HEN structure as well as a customized reward function is introduced.A Q-learning algorithm is applied to update the HEN structure using theε-greedy strategy.Better results are obtained from three literature cases of different scales.

Deep Reinforcement Learning Based Joint Cooperation Clustering and Downlink Power Control for Cell-Free Massive MIMO

In recent times,various power control and clustering approaches have been proposed to enhance overall performance for cell-free massive multipleinput multiple-output(CF-mMIMO)networks.With the emergence of deep reinforcement learning(DRL),significant progress has been made in the field of network optimization as DRL holds great promise for improving network performance and efficiency.In this work,our focus delves into the intricate challenge of joint cooperation clustering and downlink power control within CF-mMIMO networks.Leveraging the potent deep deterministic policy gradient(DDPG)algorithm,our objective is to maximize the proportional fairness(PF)for user rates,thereby aiming to achieve optimal network performance and resource utilization.Moreover,we harness the concept of“divide and conquer”strategy,introducing two innovative methods termed alternating DDPG(A-DDPG)and hierarchical DDPG(H-DDPG).These approaches aim to decompose the intricate joint optimization problem into more manageable sub-problems,thereby facilitating a more efficient resolution process.Our findings unequivo-cally showcase the superior efficacy of our proposed DDPG approach over the baseline schemes in both clustering and downlink power control.Furthermore,the A-DDPG and H-DDPG obtain higher performance gain than DDPG with lower computational complexity.

Task Offloading and Resource Allocation in NOMA-VEC:A Multi-Agent Deep Graph Reinforcement Learning Algorithm

Vehicular edge computing(VEC)is emerging as a promising solution paradigm to meet the requirements of compute-intensive applications in internet of vehicle(IoV).Non-orthogonal multiple access(NOMA)has advantages in improving spectrum efficiency and dealing with bandwidth scarcity and cost.It is an encouraging progress combining VEC and NOMA.In this paper,we jointly optimize task offloading decision and resource allocation to maximize the service utility of the NOMA-VEC system.To solve the optimization problem,we propose a multiagent deep graph reinforcement learning algorithm.The algorithm extracts the topological features and relationship information between agents from the system state as observations,outputs task offloading decision and resource allocation simultaneously with local policy network,which is updated by a local learner.Simulation results demonstrate that the proposed method achieves a 1.52%∼5.80%improvement compared with the benchmark algorithms in system service utility.

Knowledge Reasoning Method Based on Deep Transfer Reinforcement Learning:DTRLpath

In recent years,with the continuous development of deep learning and knowledge graph reasoning methods,more and more researchers have shown great interest in improving knowledge graph reasoning methods by inferring missing facts through reasoning.By searching paths on the knowledge graph and making fact and link predictions based on these paths,deep learning-based Reinforcement Learning(RL)agents can demonstrate good performance and interpretability.Therefore,deep reinforcement learning-based knowledge reasoning methods have rapidly emerged in recent years and have become a hot research topic.However,even in a small and fixed knowledge graph reasoning action space,there are still a large number of invalid actions.It often leads to the interruption of RL agents’wandering due to the selection of invalid actions,resulting in a significant decrease in the success rate of path mining.In order to improve the success rate of RL agents in the early stages of path search,this article proposes a knowledge reasoning method based on Deep Transfer Reinforcement Learning path(DTRLpath).Before supervised pre-training and retraining,a pre-task of searching for effective actions in a single step is added.The RL agent is first trained in the pre-task to improve its ability to search for effective actions.Then,the trained agent is transferred to the target reasoning task for path search training,which improves its success rate in searching for target task paths.Finally,based on the comparative experimental results on the FB15K-237 and NELL-995 datasets,it can be concluded that the proposed method significantly improves the success rate of path search and outperforms similar methods in most reasoning tasks.

Enhancing Image Description Generation through Deep Reinforcement Learning:Fusing Multiple Visual Features and Reward Mechanisms

Image description task is the intersection of computer vision and natural language processing,and it has important prospects,including helping computers understand images and obtaining information for the visually impaired.This study presents an innovative approach employing deep reinforcement learning to enhance the accuracy of natural language descriptions of images.Our method focuses on refining the reward function in deep reinforcement learning,facilitating the generation of precise descriptions by aligning visual and textual features more closely.Our approach comprises three key architectures.Firstly,it utilizes Residual Network 101(ResNet-101)and Faster Region-based Convolutional Neural Network(Faster R-CNN)to extract average and local image features,respectively,followed by the implementation of a dual attention mechanism for intricate feature fusion.Secondly,the Transformer model is engaged to derive contextual semantic features from textual data.Finally,the generation of descriptive text is executed through a two-layer long short-term memory network(LSTM),directed by the value and reward functions.Compared with the image description method that relies on deep learning,the score of Bilingual Evaluation Understudy(BLEU-1)is 0.762,which is 1.6%higher,and the score of BLEU-4 is 0.299.Consensus-based Image Description Evaluation(CIDEr)scored 0.998,Recall-Oriented Understudy for Gisting Evaluation(ROUGE)scored 0.552,the latter improved by 0.36%.These results not only attest to the viability of our approach but also highlight its superiority in the realm of image description.Future research can explore the integration of our method with other artificial intelligence(AI)domains,such as emotional AI,to create more nuanced and context-aware systems.

Reinforcement learning based adaptive control for uncertain mechanical systems with asymptotic tracking

This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.

Reinforcement Learning-Based Energy Management for Hybrid Power Systems:State-of-the-Art Survey,Review,and Perspectives

The new energy vehicle plays a crucial role in green transportation,and the energy management strategy of hybrid power systems is essential for ensuring energy-efficient driving.This paper presents a state-of-the-art survey and review of reinforcement learning-based energy management strategies for hybrid power systems.Additionally,it envisions the outlook for autonomous intelligent hybrid electric vehicles,with reinforcement learning as the foundational technology.First of all,to provide a macro view of historical development,the brief history of deep learning,reinforcement learning,and deep reinforcement learning is presented in the form of a timeline.Then,the comprehensive survey and review are conducted by collecting papers from mainstream academic databases.Enumerating most of the contributions based on three main directions—algorithm innovation,powertrain innovation,and environment innovation—provides an objective review of the research status.Finally,to advance the application of reinforcement learning in autonomous intelligent hybrid electric vehicles,future research plans positioned as“Alpha HEV”are envisioned,integrating Autopilot and energy-saving control.