カートポール系の振り上げと安定化のための強化学習制御ポリシーのゼロショット転送
Zero-shot Transfer of Reinforcement Learning Control Policies for the Swing-Up and Stabilization of a Cart-Pole System
シミュレーションで訓練した強化学習ポリシーを実機のカートポール系にゼロショット転送し、振り上げと安定化を実現した。アクション平滑化フィルタとドメインランダム化、カリキュラム学習を組み合わせて堅牢性を向上させた。
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Reinforcement learning (RL) is a powerful and convenient tool to modernize controller design. In this work, we study the zero-shot transfer of RL-based control policies from simulation to hardware for cart-pole swing-up and stabilization. The two policies are trained independently, and the handoff is implemented in Simulink via switching logic. We apply a first-order action smoothing filter to prevent hardware damage from high-frequency oscillatory actuation. Pairing this bandwidth-aware filtering with sensitivity-guided domain randomization (DR) and a simple linear curriculum learning (CL) schedule, we obtain a swing-up policy that in all of our experiments injects sufficient energy for handoff into the stabilizer's region of attraction. The stabilization policy rejects disturbances within the tested range, and the swing-up policy can re-engage after larger perturbations and restores the pendulum to the inverted position.