An overview of the applications of reinforcement learning to robot programming: discussion on the literature and the potentials

Abstract

<p>There has been remarkable progress in the field of robotics over the past few years, whether it is stationary robots that perform dynamically changing tasks in the manufacturing sector or automated guided vehicles for warehouse management or space exploration. The use of artificial intelligence (AI), especially reinforcement learning (RL), has contributed significantly to the success of various robotics tasks, proving that the shift toward intelligent control paradigms is successful and feasible. A fascinating aspect of RL is its ability to function both as low-level controller and as a high-level decision-making tool at the same time. An example of this is the manipulator robot whose task is to guide itself through an environment with irregular and recurrent obstacles. In this scenario, low-level controllers can receive the joint angles and execute smooth motion using the Joint Trajectory controllers. On a higher level, RL can also be used to define complex paths designed to avoid obstacles and self-collisions. An important aspect of successful operation of an AGV is the ability to make timely decisions. When Convolutional Neural Networks (CNN) based networks are incorporated with RL, agents can decide to direct AGVs to the destination effectively, which is mitigating the risk of catastrophic collisions. Even though many of these challenges can be addressed with classical solutions, devising such solutions takes a great deal of time and effort, making this process quite expensive. With an eye on different categories of RL applications to robotics, this study will provide an overview of the use of RL in robotic applications, examining the advantages and disadvantages of state-of-the-art applications. Additionally, we provide a targeted comparative analysis between classical robotics methods and RL-based robotics methods. Along with drawing conclusions from our analysis, an outline of the future possibilities and advancements that may accelerate the progress and autonomy of robotics in the future is provided.</p>