Neural network controllers muab kev ruaj ntseg rau cov neeg hlau nyuaj, paving txoj hauv kev kom muaj kev nyab xeeb dua ntawm kev siv tsheb thiab cov tshuab ua lag luam. Cov kws tshawb fawb ntawm Massachusetts lub koom haum thev naus laus zis tau tsim cov txheej txheem ua tau zoo los tshawb xyuas qhov kev ua haujlwm ntawm Lyapunov hauv cov txheej txheem nyuaj, ua kom muaj kev ruaj ntseg thiab kev nyab xeeb ntawm neural network tswj cov neeg hlau hauv ntau qhov chaw.
Neural tes hauj lwm tau muaj kev cuam tshuam loj npaum li cas cov kws tsim qauv tsim cov neeg hlau tswj, ua rau muaj kev hloov pauv ntau dua thiab siv tau zoo. Txawm li cas los xij, cov tshuab hlwb zoo li no kuj yog rab ntaj ob sab: lawv qhov nyuaj ua rau lawv muaj zog, tab sis lawv kuj tawm tsam kom ntseeg tau tias cov neeg hlau uas siv los ntawm neural networks tuaj yeem ua lawv txoj haujlwm yam nyab xeeb.
Ib txoj hauv kev los txheeb xyuas kev ruaj ntseg thiab kev ruaj ntseg yog los ntawm cov txheej txheem hu ua Lyapunov muaj nuj nqi. Yog tias koj tuaj yeem nrhiav tau Lyapunov muaj nuj nqi nrog tus nqi qis dua, ces koj tuaj yeem paub tias qhov tsis muaj kev ruaj ntseg lossis tsis ruaj khov cuam tshuam nrog cov nqi siab dua yuav tsis tshwm sim. Txawm li cas los xij, rau cov neeg hlau uas tswj hwm los ntawm cov xov tooj neural, cov txheej txheem dhau los rau kev txheeb xyuas cov xwm txheej Lyapunov tsis tau ntsuas zoo rau cov tshuab nyuaj.
Cov kws tshawb fawb ntawm MIT Computer Science thiab Artificial Intelligence Laboratory (CSAIL) thiab lwm lub tsev haujlwm tam sim no tau tsim cov thev naus laus zis tshiab uas tso cai rau cov ntawv pov thawj nruj ntawm Lyapunov suav hauv ntau lub tshuab. Lub algorithm zoo tshawb nrhiav thiab txheeb xyuas cov haujlwm Lyapunov, uas muab kev ruaj ntseg lav rau lub kaw lus. Txoj hauv kev no muaj peev xwm ua rau kev xa tawm ntawm cov neeg hlau thiab cov tsheb tsav tsheb, suav nrog cov dav hlau thiab dav hlau, muaj kev nyab xeeb dua.
Txhawm rau ua kom zoo dua qub algorithms, cov kws tshawb nrhiav pom ib qho luv luv-txuag nyiaj hauv kev cob qhia thiab kev siv tau. Lawv tsim cov nqi qis dua-piv txwv li, cov ntaub ntawv tawm tsam los ntawm cov sensors uas tuaj yeem cuam tshuam cov tswj hwm-thiab tom qab ntawd ua kom zoo dua cov txheej txheem neeg hlau los daws cov piv txwv ntawd. Kev nkag siab txog cov xwm txheej ntawm ntug no pab kev kawm tshuab tswj cov xwm txheej nyuaj, tso cai rau lawv ua haujlwm nyab xeeb hauv ntau qhov xwm txheej ntau dua li yav dhau los. Tom qab ntawd lawv tau tsim cov qauv kev pov thawj tshiab uas muaj peev xwm siv tau tus neeg siv lub tshuab neural network validator, -CROWN, los muab cov ntaub ntawv pov thawj nruj tshaj plaws ntxiv rau cov piv txwv.
"Peb tau pom qee qhov kev ua tau zoo ntawm AI-tswj tshuab xws li humanoid robots thiab robot dogs, tab sis cov AI controllers no tsis muaj kev lees paub zoo uas yog qhov tseem ceeb rau kev nyab xeeb-tseem ceeb." "Peb txoj haujlwm kaw qhov sib txawv ntawm qib kev ua tau zoo ntawm neural network controllers thiab kev ruaj ntseg lav uas yuav tsum tau siv ntau dua neural network controllers hauv ntiaj teb tiag," said Lujie Yang, PhD cov tub ntxhais kawm hauv hluav taws xob engineering thiab computer science (EECS) ntawm. Massachusetts Institute of Technology thiab CSAIL cov kws tshawb fawb koom nrog. "
Hauv kev ua qauv qhia digital, pab pawg simulated yuav ua li cas lub quadcopter drone nrog lub lidar sensor yuav ruaj khov nyob rau hauv ib puag ncig ob sab. Lawv cov algorithm tau ua tiav kev tswj hwm lub drone mus rau qhov chaw ruaj khov hovering, tsuas yog siv cov ntaub ntawv ib puag ncig uas tau muab los ntawm lidar sensor.
Hauv ob qhov kev sim, lawv txoj hauv kev tau ua rau ob lub tshuab simulated neeg hlau ua haujlwm ruaj khov nyob rau hauv ntau yam kev mob: lub pendulum inverted thiab lub tsheb ua raws. Cov kev sim no, thaum me me, muaj ntau qhov nyuaj dua li yav dhau los neural network validations yuav ua tau, tshwj xeeb tshaj yog vim lawv suav nrog cov qauv sensor.
Sicun Gao, tus kws tshaj lij ntawm computer science thiab engineering ntawm University of California, San Diego tau hais tias "Tsis zoo li cov teeb meem kev kawm niaj hnub, kev siv cov neural tes hauj lwm nruj raws li Lyapunov lub luag haujlwm yuav tsum daws cov teeb meem nyuaj thoob ntiaj teb kev ua kom zoo dua qub, yog li kev ua kom muaj zog yog qhov tseem ceeb," .
Nws muaj kev txhim kho tseem ceeb hauv scalability thiab kev daws teeb meem zoo piv rau cov txheej txheem uas twb muaj lawm. Qhov kev ua haujlwm no qhib cov lus qhia zoo siab rau kev txhim kho ntxiv ntawm kev ua kom zoo tshaj plaws rau cov txheej txheem neural Lyapunov, nrog rau kev siv nruj ntawm kev kawm tob hauv kev tswj hwm thiab neeg hlau.
Txoj kev ruaj ntseg tshiab muaj peev xwm siv tau dav. Hauv cov ntawv thov no, kev nyab xeeb yog qhov tseem ceeb. Nws tuaj yeem pab xyuas kom tus kheej tsav tsheb xws li dav hlau thiab dav hlau tsav tsheb ntau dua. Ib yam li ntawd, cov drones uas xa cov khoom lossis daim duab qhia chaw sib txawv tuaj yeem tau txais txiaj ntsig los ntawm qhov kev lees paub kev ruaj ntseg no.
Txoj hauv kev tshiab no tsis txwv rau cov neeg hlau thiab yuav pab tau lwm yam kev siv yav tom ntej, xws li biomedical thiab industrial processing. Thaum cov thev naus laus zis yog kev txhim kho dhau los ntawm kev ua haujlwm dhau los ntawm kev ua kom muaj peev xwm, cov kws tshawb fawb tab tom tshawb nrhiav seb nws tuaj yeem ua tau zoo dua hauv cov tshuab nrog qhov ntev dua. Lawv kuj xav xav txog cov ntaub ntawv tshaj lidar nyeem, xws li cov duab thiab taw tes huab.
Raws li kev tshawb fawb yav tom ntej, pab pawg vam tias yuav muab kev ruaj ntseg zoo ib yam rau cov tshuab hauv qhov chaw tsis paub meej thiab muaj kev cuam tshuam rau kev cuam tshuam. Piv txwv li, yog tias lub drone raug cua daj cua dub, cov kws tshawb fawb xav kom nws tseem ya mus ruaj khov thiab ua tiav nws lub hom phiaj.
Tsis tas li ntawd, lawv npaj siab yuav siv lawv txoj hauv kev los txhim kho cov teeb meem, nrog lub hom phiaj ntawm kev txo lub sijhawm thiab kev ncua deb uas yuav tsum tau ua rau cov neeg hlau ua kom tiav cov haujlwm thaum tswj kev ruaj ntseg. thiab npaj yuav nthuav dav lawv cov thev naus laus zis rau humanoid robots thiab lwm lub tshuab hauv ntiaj teb uas cov neeg hlau xav tau kom ruaj khov thaum sib cuag nrog nws ib puag ncig.
