| Title |
Investigation of the Necessity of Past Input/output Information in Reinforcement Learning based Robust Control |
| Authors |
심형보(Hyungbo Shim) ; 김정우(Jeong Woo Kim) ; 박주영(Jooyoung Park) |
| DOI |
https://doi.org/10.5370/KIEE.2021.70.12.1953 |
| Keywords |
Reinforcement learning; Sim2Real gap; Domain randomization; Dynamic feedback controller |
| Abstract |
Reinforcement learning yields a feedback controller that achieves specific control goal (which is often translated as a reward function). However, it often suffers from the Sim2Real gap, and domain randomization is known to be a method to overcome this issue. In this paper, we demonstrate necessity of input/outpu history when domain randomization is employed by a formal example and a simulation result. This is equivalent to the necessity of dynamic feedback controller in terms of control theory |