优化轮式装载机在梦境环境中的铲斗装载策略

IF 9.6 1区 工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY Automation in Construction Pub Date : 2024-10-04 DOI:10.1016/j.autcon.2024.105804
Daniel Eriksson , Reza Ghabcheloo , Marcus Geimer
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引用次数: 0

摘要

强化学习(RL)需要与环境进行多次交互才能收敛到最佳策略,因此如果不使用模拟器,将其应用于轮式装载机和铲斗装载问题是不可行的。然而,由于参数未知,很难在模拟器中建立桩的动态模型,这导致从模拟到真实环境的可移植性很差。相反,本文使用世界模型作为快速替代模拟器,创建了一个梦境环境,让强化学习(RL)代理探索并优化其铲斗装填行为。然后,将训练好的代理不加修改地部署到全尺寸轮式装载机上,证明其性能优于之前使用模仿学习合成的基准控制器。此外,与使用模仿学习预先训练并使用 RL 在测试桩上进行优化的控制器相比,该控制器也具有相同的性能。
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Optimizing bucket-filling strategies for wheel loaders inside a dream environment
Reinforcement Learning (RL) requires many interactions with the environment to converge to an optimal strategy, which makes it unfeasible to apply to wheel loaders and the bucket filling problem without using simulators. However, it is difficult to model the pile dynamics in the simulator because of unknown parameters, which results in poor transferability from the simulation to the real environment. Instead, this paper uses world models, serving as a fast surrogate simulator, creating a dream environment where a reinforcement learning (RL) agent explores and optimizes its bucket-filling behavior. The trained agent is then deployed on a full-size wheel loader without modifications, demonstrating its ability to outperform the previous benchmark controller, which was synthesized using imitation learning. Additionally, the same performance was observed as that of a controller pre-trained with imitation learning and optimized on the test pile using RL.
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来源期刊
Automation in Construction
Automation in Construction 工程技术-工程:土木
CiteScore
19.20
自引率
16.50%
发文量
563
审稿时长
8.5 months
期刊介绍: Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.
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