Zixiong Qin | Searcharxiv

arXiv2025

DOA: A Degeneracy Optimization Agent with Adaptive Pose Compensation Capability based on Deep Reinforcement Learning

Particle filter-based 2D-SLAM is widely used in indoor localization tasks due to its efficiency. However, indoor environments such as long straight corridors can cause severe degeneracy problems in SLAM. In this paper, we use Proximal Policy Optimization (PPO) to train an adaptive degeneracy optimization agent (DOA) to address degeneracy problem. We propose a systematic methodology to address three critical challenges in traditional supervised learning frameworks: (1) data acquisition bottlenecks in degenerate dataset, (2) inherent quality deterioration of training samples, and (3) ambiguity in annotation protocol design. We design a specialized reward function to guide the agent in developing perception capabilities for degenerate environments. Using the output degeneracy factor as a reference weight, the agent can dynamically adjust the contribution of different sensors to pose optimization. Specifically, the observation distribution is shifted towards the motion model distribution, with the step size determined by a linear interpolation formula related to the degeneracy factor. In addition, we employ a transfer learning module to endow the agent with generalization capabilities across different environments and address the inefficiency of training in degenerate environments. Finally, we conduct ablation studies to demonstrate the rationality of our model design and the role of transfer learning. We also compare the proposed DOA with SOTA methods to prove its superior degeneracy detection and optimization capabilities across various environments.

cs.RO↗

arXiv2024

Meta Learning Based Adaptive Cooperative Perception in Nonstationary Vehicular Networks

To accommodate high network dynamics in real-time cooperative perception (CP), reinforcement learning (RL) based adaptive CP schemes have been proposed, to allow adaptive switchings between CP and stand-alone perception modes among connected and autonomous vehicles. The traditional offline-training online-execution RL framework suffers from performance degradation under nonstationary network conditions. To achieve fast and efficient model adaptation, we formulate a set of Markov decision processes for adaptive CP decisions in each stationary local vehicular network (LVN). A meta RL solution is proposed, which trains a meta RL model that captures the general features among LVNs, thus facilitating fast model adaptation for each LVN with the meta RL model as an initial point. Simulation results show the superiority of meta RL in terms of the convergence speed without reward degradation. The impact of the customization level of meta models on the model adaptation performance has also been evaluated.

cs.NI↗