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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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Strategic Game Based on Multiagent Systems
Knapek, Petr ; Kočí, Radek (referee) ; Zbořil, František (advisor)
This thesis is focused on designing and implementing system, that adds learning and planning capabilities to agents designed for playing real-time strategy games like StarCraft. It will explain problems of controlling game entities and bots by computer and introduce some often used solutions. Based on analysis, a new system has been designed and implemented. It uses multi-agent systems to control the game, utilizes machine learning methods and is capable of overcoming oponents and adapting to new challenges.
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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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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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Intelligent Music Player for Android
Tomášek, Michal ; Rozman, Jaroslav (referee) ; Kalmár, Róbert (advisor)
Today's market is full of different kinds of music players. However there is no music player using prediction, which would be able to work with usual usage and in real time. This bachelor's thesis deals with the design and implementation of a music player with implemented prediction. The creation of high quality architecture for this application and the choice of appropriate prediction algorithm are emphasized. At first, the category of methods of machine learning and afterwards the algorithm are determined. The final prediction algorithm is divided into a several sections, therefore it is necessary to pick or create a solution for all its parts. The outcome of this project is the music player for Android OS which would be able to predict and learn from a user interaction in real time.
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Reinforcement Learning for Robotic Soccer Playing
Brychta, Adam ; Švec, Tomáš (referee) ; Smrž, Pavel (advisor)
The aim of this thesis is to create a reinforcement learning agent that is able to play a soccer. I'm working with the deep Q-learning algorithm, which uses deep neural network. The practical part of this work is about implementing the agent for reinforcement learning. The goal of the agent is to choose the best action possible for a given situation. The agent is being trained in a variety of scenarios. The result of this thesis shows an approach to control soccer player using machine learning.
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Training Intelligent Agents in Unity Game Engine
Vaculík, Jan ; Chlubna, Tomáš (referee) ; Matýšek, Michal (advisor)
The goal of this work is to design applications, which demonstrate the power of machine learning in video games. To achieve this goal, this work uses the ML-Agents toolkit, which allows the creation of intelligent agents in the Unity Game Engine. Furthermore, a series of experiments showing the properties and flexibility of intelligent agents in several real-time scenarios is presented. To train the agents, the toolkit uses reinforcement learning and imitation learning algorithms.
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