Aug 2026· Zenodo (CERN European Organization for Nuclear Research)
Reinforcement Learning in Robotics
Abstract
This paper addresses the challenge of optimizing multi-agent collaborative learning (MCL) by introducing a dynamic topology structure optimization framework. Traditional MCL methods often rely on fixed topologies, which may not be optimal for varying task demands and evolving agent states. We propose a novel approach that leverages reinforcement learning (RL) to dynamically adjust the topology of a multi-agent system, enhancing both efficiency and overall learning performance. The core idea is to model the agent-agent communication and task dependencies as a graph and use RL to learn optimal edge weights and connectivity patterns within this graph. The system adapts to changing conditions by modifying the strengths of connections between agents, adjusting communication frequencies, and potentially adding or removing connections entirely. This dynamic adjustment enables the system to focus computational resources on critical interactions and effectively distribute tasks, ultimately leading to improved convergence rates and better solutions. We outline the key components of the framework, including the state representation, action space, reward function, and the RL algorithm employed. Experimental results (simulated) demonstrate the effectiveness of the proposed approach compared to static topology MCL.
Model-based life-cycle evaluation indicates that AI-optimized PPP contracts reduce bridges reaching emergency condition by 30%–40% over a 30-year horizon while lowering life-cycle costs by 8%–12% compared with rule-based policies, providing infrastructure agencies and private concessionaires with an integrated AI-driven life-cycle management platform.
Ali Shehadeh, Odey Alshboul· Journal of Legal Affairs and...· 0 citations
This paper presents a two-wheeled mobile robot trajectory-tracking controller combining a particle swarm optimization (PSO)-tuned fuzzy logic controller (FLC) with a residual reinforcement learning (RL) correction layer.PSO tuning reduces the global distance error by 35% and the integral absolute error by 44% over the initial FLC.The residual RL layer further reduces the global distance error by approximately 2.3% and improves cornering-region tracking by 3.9% in RMSE, 4.7% in IAE, and 5.2% in peak distance error.The proposed controller also reduces the global distance error by 41% and 66% relative to independently tuned PID and fuzzy-PID baselines.Trained across four trajectory families with a held-out test split, the generalized agent reduces the average test distance error by 18% relative to the tuned FLC baseline.These results show that a lightweight residual correction improves both accuracy and generalization while preserving the fuzzy controller's interpretability.
Le Ngoc Dung, Luu Hong Quan, Doan Cong Anh· International journal of int...· 0 citations
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