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Optimization of control using reinforcement learning on the Robocode platform
Pastušek, Václav ; Myška, Vojtěch (referee) ; Burget, Radim (advisor)
This master's thesis focuses on optimizing the control of a tank robot in the Robocode environment using reinforcement learning. The complexity of this problem falls into the EXPSPACE class, presenting a challenge that cannot be underestimated. The theoretical part of the thesis meticulously examines the Robocode platform, concepts of reinforcement learning, and relevant algorithms, while the practical part focuses on optimizing the agent, implementing reinforcement learning algorithms, and creating a user-friendly interface for easy training and testing of models. A total of 64 models were trained and tested as part of the thesis, with their data and parameters compared and presented in accompanying databases and graphs. The best results in terms of average hits per episode were achieved by models labeled v0.8.0 and v1.0.0. The first model exhibited a certain ability to evade shots, while the second model showed more successful hits.
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Playing Games Using Neural Networks
Buchal, Petr ; Kolář, Martin (referee) ; Hradiš, Michal (advisor)
The aim of this bachelor thesis is to teach a neural network solving classic control theory problems and playing the turn-based game 2048 and several Atari games. It is about the process of the reinforcement learning. I used the Deep Q-learning reinforcement learning algorithm which uses a neural networks. In order to improve a learning efficiency, I enriched the algorithm with several improvements. The enhancements include the addition of a target network, DDQN, dueling neural network architecture and priority experience replay memory. The experiments with classic control theory problems found out that the learning efficiency is most increased by adding a target network. In the game environments, the Deep Q-learning has achieved several times better results than a random player. The results and their analysis can be used for an insight to reinforcement learning algorithms using neural networks and to improve the used techniques.
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Vehicle Control via Reinforcement Learning
Maslowski, Petr ; Uhlíř, Václav (referee) ; Šůstek, Martin (advisor)
The goal of this thesis is a creation of an autonomous agent that can control a vehicle. The agent utilizes reinforcement learning that uses neural networks. The agent interprets images from the front vehicle camera and selects appropriate actions to control the vehicle. I designed and created reward functions and then experimented with hyperparameters setup. Trained agent simulate driving on the road. The result of this thesis shows a possible approach to control an autonomous vehicle agent using machine learning method in CARLA simulator.
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Using of Reinforcement Learning for Four Legged Robot Control
Ondroušek, Vít ; Maga,, Dušan (referee) ; Maňas, Pavel (referee) ; Singule, Vladislav (referee) ; Březina, Tomáš (advisor)
The Ph.D. thesis is focused on using the reinforcement learning for four legged robot control. The main aim is to create an adaptive control system of the walking robot, which will be able to plan the walking gait through Q-learning algorithm. This aim is achieved using the design of the complex three layered architecture, which is based on the DEDS paradigm. The small set of elementary reactive behaviors forms the basis of proposed solution. The set of composite control laws is designed using simultaneous activations of these behaviors. Both types of controllers are able to operate on the plain terrain as well as on the rugged one. The model of all possible behaviors, that can be achieved using activations of mentioned controllers, is designed using an appropriate discretization of the continuous state space. This model is used by the Q-learning algorithm for finding the optimal strategies of robot control. The capabilities of the control unit are shown on solving three complex tasks: rotation of the robot, walking of the robot in the straight line and the walking on the inclined plane. These tasks are solved using the spatial dynamic simulations of the four legged robot with three degrees of freedom on each leg. Resulting walking gaits are evaluated using the quantitative standardized indicators. The video files, which show acting of elementary and composite controllers as well as the resulting walking gaits of the robot, are integral part of this thesis.
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Reinforcement Learning for RoboCup
Bočán, Hynek ; Škoda, Petr (referee) ; Smrž, Pavel (advisor)
Goal of this thesis is creation of artificial intelligence capable of controlling robotic soccer player simulated in SimSpark environment. Agent created is expanding capabilities of existing third party agent which provides set of basic skills such as localization on the field, dribbling with the ball and omnidirectional walk. Responsibility of the created agent is to pick the best action based current state of the game. This decision making was implemented using reinforcement learning and its method Q-learning. State of the game is transformed into 2D picture with several planes. This picture is then analyzed using deep convolution neural network implemented using C++ and DeepCL library.
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Improving Bots Playing Starcraft II Game in PySC2 Environment
Krušina, Jan ; Škoda, Petr (referee) ; Smrž, Pavel (advisor)
The aim of this thesis is to create an automated system for playing a real-time strategy game Starcraft II. Learning from replays via supervised learning and reinforcement learning techniques are used for improving bot's behavior. The proposed system should be capable of playing the whole game utilizing PySC2 framework for machine learning. Performance of the bot is evaluated against the built-in scripted AI in the game.
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Deep Neural Networks for Reinforcement Learning in Real-Time Strategy
Barilla, Marco ; Dobeš, Petr (referee) ; Kolář, Martin (advisor)
Machine learning is one of the fastest growing branches of modern science. It is a subfield of artificial intelligence research that is interested the problem of making computers help us solve complex modern problems. Games play an important role in this field because they represent the perfect environment for testing of new approaches and benchmarking against human performance. Starcraft 2 is currently in the spotlight, thanks to its broad playerbase and its complexity. The practical goal of this paper is to create an advantage actor critic agent that is able to operate in the environment of this game.
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Demonstrational Program for IZU Course
Míšová, Miroslava ; Rozman, Jaroslav (referee) ; Zbořil, František (advisor)
This bachelor's thesis deals with development of new study aplications for course Fundamentals of Artificial Intelligence. These aplications are based on the older version of JavaApplet, which use features, that are no longer supported. Each applicatoin was made acording to an object-oriented paradigm and than implemented. Special care was taken in order for the UI to be intuitive and easy to use and also for the aplication to be able to be further developed.
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Artificial Intelligence for Game Playing
Bayer, Václav ; Škoda, Petr (referee) ; Smrž, Pavel (advisor)
The focus of this work is the use of artificial intelligence methods for a playing of real-time strategic (RTS) games, where all interactions of players are performed in real time (in parallel). The thesis deals mainly with the use of machine learning method Q-learning, which is based on reinforcement learning and Markov decision process. The practice part of this work is implemented for StarCraft: Brood War game.A proposed solution learns to make up an optimal order of buildings construction in respect to a playing style (strategy) of the opponent(s). The solution is proposed within the rules of the SSCAIT tournament. Analysis and evaluation of the proposed system are based on a comparison with other participants of the competition as well as a comparison of the system behavior before and after the playing of a set of the games.
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