Q-WSL:Leveraging Dynamic Programming for Weighted Supervised Learning in Goal-conditioned RL

A novel class of advanced algorithms, termed Goal-Conditioned Weighted Supervised Learning (GCWSL), has recently emerged to tackle the challenges posed by sparse rewards in goal-conditioned reinforcement learning (RL). GCWSL consistently delivers strong performance across a diverse set of goal-reaching tasks due to its simplicity, effectiveness, and stability. However, GCWSL methods lack a crucial capability known as trajectory stitching, which is essential for learning optimal policies when faced with unseen skills during testing. This limitation becomes particularly pronounced when the replay buffer is predominantly filled with sub-optimal trajectories. In contrast, traditional TD-based RL methods, such as Q-learning, which utilize Dynamic Programming, do not face this issue but often experience instability due to the inherent difficulties in value function approximation. In this paper, we propose Q-learning Weighted Supervised Learning (Q-WSL), a novel framework designed to overcome the limitations of GCWSL by incorporating the strengths of Dynamic Programming found in Q-learning. Q-WSL leverages Dynamic Programming results to output the optimal action of (state, goal) pairs across different trajectories within the replay buffer. This approach synergizes the strengths of both Q-learning and GCWSL, effectively mitigating their respective weaknesses and enhancing overall performance. Empirical evaluations on challenging goal-reaching tasks demonstrate that Q-WSL surpasses other goal-conditioned approaches in terms of both performance and sample efficiency. Additionally, Q-WSL exhibits notable robustness in environments characterized by binary reward structures and environmental stochasticity.

Exploring Hardware Friendly Bottleneck Architecture in CNN for Embedded Computing Systems

In this paper, we explore how to design lightweight CNN architecture for embedded computing systems. We propose L-Mobilenet model for ZYNQ based hardware platform. L-Mobilenet can adapt well to the hardware computing and accelerating, and its network structure is inspired by the state-of-the-art work of Inception-ResnetV1 and MobilenetV2, which can effectively reduce parameters and delay while maintaining the accuracy of inference. We deploy our L-Mobilenet model to ZYNQ embedded platform for fully evaluating the performance of our design. By measuring in cifar10 and cifar100 datasets, L-Mobilenet model is able to gain 3x speed up and 3.7x fewer parameters than MobileNetV2 while maintaining a similar accuracy. It also can obtain 2x speed up and 1.5x fewer parameters than ShufflenetV2 while maintaining the same accuracy. Experiments show that our network model can obtain better performance because of the special considerations for hardware accelerating and software-hardware co-design strategies in our L-Mobilenet bottleneck architecture.