학술논문
QC_SANE: Robust Control in DRL Using Quantile Critic With Spiking Actor and Normalized Ensemble
Document Type
Periodical
Author
Source
IEEE Transactions on Neural Networks and Learning Systems IEEE Trans. Neural Netw. Learning Syst. Neural Networks and Learning Systems, IEEE Transactions on. 34(9):6656-6662 Sep, 2023
Subject
Language
ISSN
2162-237X
2162-2388
2162-2388
Abstract
Recently introduced deep reinforcement learning (DRL) techniques in discrete-time have resulted in significant advances in online games, robotics, and so on. Inspired from recent developments, we have proposed an approach referred to as Quantile Critic with Spiking Actor and Normalized Ensemble (QC_SANE) for continuous control problems, which uses quantile loss to train critic and a spiking neural network (NN) to train an ensemble of actors. The NN does an internal normalization using a scaled exponential linear unit (SELU) activation function and ensures robustness. The empirical study on multijoint dynamics with contact (MuJoCo)-based environments shows improved training and test results than the state-of-the-art approach: population coded spiking actor network (PopSAN).