Emotion-Based Heterogeneous Multi-agent Reinforcement Learning with Sparse Reward
FANG Baofu1,2, MA Yunting1,2, WANG Zaijun3, WANG Hao1,2
1. School of Computer Science and Information Engineering, Hefei University of Technology, Hefei 230601 2. Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine, Hefei University of Technology, Hefei, 230601 3. Key Laboratory of Flight Techniques and Flight Safety, Civil Aviation Flight University of China, Guanghan 618307
Abstract In reinforcement learning, the convergence speed and efficiency of the agent are greatly reduced due to its inability to acquire effective experience in an sparse reward distribution environment. Aiming at this kind of sparse reward problem, a method of emotion-based heterogeneous multi-agent reinforcement learning with sparse reward is proposed in this paper. Firstly, the emotion model based on personality is established to provide incentive mechanism for multiple heterogeneous agents as an effective supplement to external rewards. Then, based on this mechanism, a deep deterministic strategy gradient reinforcement learning algorithm based on intrinsic emotional incentive mechanism under sparse rewards is proposed to accelerate the convergence speed of agents. Finally, multi-robot pursuit is used as a simulation experiment platform to construct sparse reward scenarios with different difficulty levels, and the effectiveness and superiority of the proposed method in pursuit success rate and convergence speed are verified.
Fund:National Nature Science Foundation of China(No.61872327), Special Fund for Basic Scientific Research of Central Colleges(No.ACAIM190102), Open Fund of Key Laboratory of Flight Techniques and Flight Safety, CAAC(No.FZ2020KF07)
Corresponding Authors:
FANG Baofu, Ph.D., associate professor. His research interests include multirobot/agent systems, emo-tion agent and reinforcement learning.
About author:: MA Yunting, master student. Her research interests include computer application techno-logy, reinforcement learning and emotion agent.WANG Zaijun, master, associate profe-ssor. Her research interests include multi-robot task allocation and artificial intelligence.WANG Hao, Ph.D., professor. His research interests include artificial intelligence and robots.
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2021, Vol. 34 
