iDLab实验室打造Reinforcement Learning and Control课程及讲义
作者：互联网
一、iDLab实验室
实验室主页： http://www.idlab-tsinghua.com...
The Intelligent Driving Laboratory (iDLAB) is a part of the School of Vehicle and Mobility (SVM) at Tsinghua University. This lab focuses on advanced automatic control and machine learning algorithms, and their applications on autonomous driving, connected vehicles, driver assistance and driver behavior analysis, etc. Our research interests are loosely divided into four categories: (1) Perception, decision and control for autonomous vehicles and driver assistance systems; (2) Reinforcement learning and optimal control; (3) Distributed estimation, learning and control; and (4) Large-scale optimization and control of eco-automation and electrified powertrain. We have achieved a series of important research results and peer-reviewed publications publicly available through this website.
二、书籍简介
《Reinforcementlearning and control》撰写从2018年启动，至今已历三年，目的是为清华大学开设的同名研究生课程“强化学习与控制”，准备英文授课讲义。最新版本的前5章已上传iDLab课题组网站，欢迎大家下载分享。
下载地址： http://www.idlab-tsinghua.com...\_types=
一、内容简介
汽车的智能化变革促使整个行业发生了翻天覆地的变化，自动驾驶、云控协同、驾驶辅助等一系列新技术如雨后春笋般涌现，它们在提升地面车辆行驶性能的同时，也为解决交通事故、排放污染、城市拥堵等问题提供了一条可行的途径。近年随着机器学习和自动控制的融合发展，以模仿人类大脑学习机制为原理的强化学习（RL，Reinforcement Learning）技术迅速进入人们的视野，它为大规模复杂系统的学习及动态系统的高实时在线控制提供了一套极具前景的解决方案。
图2 强化学习型自动驾驶框架
但是该方法的工程应用尚属于起步阶段。一个重要的原因是该方法既具有理论学习的复杂度，又具有工程实践的挑战性。理论上，它隶属于统计学习和最优控制领域的交叉结合部，涉及的数理基础较深，涵盖面较广，难以学习本质机理。实践上，入门者不易短期内熟练掌握关联的编程工具，而且若对算法原理不熟悉，难以对代码进行工程化调整，不能发挥算法的应有性能。为应对上述挑战，《Reinforcement Learning and Control》一书面向工程应用领域的科研人员和技术开发者，按照原理剖析、主流算法、典型示例三位一体的原则，逐一介绍该方法在动态系统的学习和控制领域的理论和应用，涉及马尔科夫决策、蒙特卡洛学习、时序差分学习、函数近似、策略梯度学习、近似动态规划、深度强化学习等知识点。
二、内容提要
全书总共包括11章。依次介绍RL概况及基础知识，免模型学习的蒙特卡洛法及时序差分法，带模型学习的动态规划法，间接型及直接型RL，无穷时域及有限时域的近似动态规划，深度强化学习和RL的各类拾遗。
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