soft actor-criticvalue decompositioncredit assignmentIn recent years, significant progress has been made in the multi-target tracking (MTT) of unmanned aerial vehicle (UAV) swarms. Most existing MTT approaches rely on the ideal assumption of a pre-set target trajectory. However, ...
在Actor-Critic原理一文中进行了策略梯度的推导,本文将Actor-Critic进一步扩展到Multi-Agent的设定下,内容主要参考论文Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments。 目录 Motivation 背景 方法 1. Motivation 多智能体协同/竞争的场景很常见,大约可以分成3大类:合作、竞争、竞合和自利。 1)...
文章《Multi-UAV Cooperative Air Combat Decision-Making Based on Multi-Agent Double-Soft Actor-Critic》的引言部分详细阐述了多无人机(multi-UAV)协同空战决策问题的研究背景、现有技术的不足、研究动机、所提方法的概述以及文章的主要贡献。以下是对引言部分的进一步详细解读: 背景 随着无人航空器(UAVs)在现代战...
作者提出了一种actor-critic方法的变体MADDPG,对每个agent的强化学习都考虑其他agent的动作策略,进行中心化训练和非中心化执行,取得了显著效果。此外在此基础上,还提出了一种策略集成的训练方法,可以取得更稳健的效果(Additionally, we introduce a training regimen utilizing an ensemble of policies for each ...
Soft Actor-Critic. Contribute to indigoLovee/Multi-Agent-Soft-Actor-Critic development by creating an account on GitHub.
由于要用到policy distillation,所以本文用的是随机策略(stochastic policy)。对于连续动作问题,作者将Soft Actor-Critic算法由单智能体扩展到多智能体。同时还要将actor的输出利用softmax函数转换为概率分布的形式。 Policy Distillation: 蒸馏策略的损失函数为
对于连续动作问题,作者将Soft Actor-Critic算法由单智能体扩展到多智能体。同时还要将actor的输出利用softmax函数转换为概率分布的形式。 Policy Distillation: 蒸馏策略的损失函数为 (1) 注意(1)式中的 都是概率分布,并不是策略本身。从replay buffer中只采样变量 ,而不采样 。这是因为replay buffer中的 可能是...
4.1 Multi-Agent Actor Critic 该网络框架有如下假设条件: (1) the learned policies can only uselocal information (i.e. their own observations) at execution time, (2) we do not assume a differentiablemodel of the environment dynamics, unlike in [24], ...
Paper tables with annotated results for Multi-agent Soft Actor-Critic Based Hybrid Motion Planner for Mobile Robots
actor-critic和soft actor-critic: 策略梯度估计器中的项 \sum_{t^{\prime}=t}^{\infty} \gamma^{t^{\prime}-t} r_{t^{\prime}}\left(s_{t^{\prime}}, a_{t^{\prime}}\right) 会导致高方差,因为这些回报在不同的episode之间会有很大的变化。actor-critic方法(Konda & Tsitsiklis,2000)旨在通...