Read an article the other day (Engineers Teach AI to Navigate Ocean with Minimal Energy) about a simulated robot that was trained to navigate 2D turbulent water flow to travel between locations. They used a combination reinforcement learning with a DNN derived policy. The article was reporting on a Nature Communications open access paper (Learning efficient navigation in vortical flow fields).
The team was attempting to create an autonomous probe that could navigate the ocean and other large bodies of water to gather information. I believe ultimately the intent was to provide the navigational smarts for a submersible that could navigate terrestrial and non-terrestrial oceans.
One of the biggest challenges for probes like this is to be able to navigate turbulent flow without needing a lot of propulsive power and using a lot of computational power. They said that any probe that could propel itself faster than the current could easily travel wherever it wanted but the real problem was to go somewhere with lower powered submersibles.. As a result, they set their probe to swim at a constant speed at 80% of the overall simulated water flow.
Even that was relatively feasible if you had unlimited computational power to train and inference with but trying to do this on something that could fit in a small submersible was a significant challenge. NLP models today have millions of parameters and take hours to train with multiple GPU/CPU cores in operation and lots of memory Inferencing using these NLP models also takes a lot of processing power.
The researchers targeted the computational power to something significantly smaller and wished to train and perform real time inferencing on the same hardware. They chose a “Teensy 4.0 micro-controller” board for their computational engine which costs under $20, had ~2MB of flash memory and fit in a space smaller than 1.5″x1.0″ (38.1mm X 25.4mm).
The simulation setup
The team started their probe turbulent flow training with a cylinder in a constant flow that generated downstream vortices, flowing in opposite directions. These vortices would travel from left to right in the simulated flow field. In order for the navigation logic to traverse this vortical flow, they randomly selected start and end locations on different sides.
The AI model they trained and used for inferencing was a combination of reinforcement learning (with an interesting multi-factor reward signal) and a policy using a trained deep neural network. They called this approach Deep RL.
For reinforcement learning, they used a reward signal that was a function of three variables: the time it took, the difference in distance to target and a success bonus if the probe reached the target. The time variable was a penalty and was the duration of the swim activity. Distance to target was how much the euclidean distance between the current probe location and the target location had changed over time. The bonus was only applied when the probe was in close proximity to the target location, The researchers indicated the reward signal could be used to optimize for other values such as energy to complete the trip, surface area traversed, wear and tear on propellers, etc.
For the reinforcement learning state information, they supplied the probe and the target relative location [Difference(Probe x,y, Target x,y)], And whatever sensor data being tested (e.g., for the velocity sensor equipped probe, the local velocity of the water at the probe’s location).
They trained the DNN policy using the state information (probe start and end location, local velocity/vorticity sensor data) to predict the swim angle used to navigate to the target. The DNN policy used 2 internal layers with 64 nodes each.
They benchmarked the Deep RL solution with local velocity sensing against a number of different approaches. One naive approach that always swam in the direction of the target, one flow blind approach that had no sensors but used feedback from it’s location changes to train with, one vorticity sensor approach which sensed the vorticity of the local water flow, and one complete knowledge approach (not shown above) that had information on the actual flow at every location in the 2D simulation
It turned out that of the first four (naive, flow-blind, vorticity sensor and velocity sensor) the velocity sensor configured robot had the highest success rate (“near 100%”).
That simulated probe was then measured against the complete flow knowledge version. The complete knowledge version had faster trip speeds, but only 18-39% faster (on the examples shown in the paper). However, the knowledge required to implement this algorithm would not be feasible in a real ocean probe.
More to be done
They tried the probes Deep RL navigation algorithm on a different simulated flow configuration, a double gyre flow field (sort of like 2 circular flows side by side but going in the opposite directions).
The previously trained (on cylinder vortical flow) Deep RL navigation algorithm only had a ~4% success rate with the double gyre flow. However, after training the Deep RL navigation algorithm on the double gyre flow, it was able to achieve a 87% success rate.
So with sufficient re-training it appears that the simulated probe’s navigation Deep RL could handle different types of 2D water flow.
The next question is how well their Deep RL can handle real 3D water flows, such as idal flows, up-down swells, long term currents, surface wind-wave effects, etc. It’s probable that any navigation for real world flows would need to have a multitude of Deep RL trained algorithms to handle each and every flow encountered in real oceans.
However, the fact that training and inferencing could be done on the same small hardware indicates that the Deep RL could possibly be deployed in any flow, let it train on the local flow conditions until success is reached and then let it loose, until it starts failing again. Training each time would take a lot of propulsive power but may be suitable for some probes.
The researchers have 3D printed a submersible with a Teensy microcontroller and an Arduino controller board with propellers surrounding it to be able to swim in any 3D direction. They have also constructed a water tank for use for in real life testing of their Deep RL navigation algorithms.
Picture credit(s):
- From Learning efficient navigation in vortical flow fields Nature magazine article
- From Learning efficient navigation in vortical flow fields Nature magazine article
- From Learning efficient navigation in vortical flow fields Nature magazine article
- From Learning efficient navigation in vortical flow fields Nature magazine article
- From Learning efficient navigation in vortical flow fields Nature magazine article
- From Engineers Teach AI to Navigate Ocean with Minimal Energy CalTech article