Explainable AI for reinforcement learning based dynamic scheduling solutions in semiconductor manufacturing

Reinforcement learning (RL), a promising framework for data-driven decision making in an uncertain environment, has successfully been applied in many real-world operation and control problems. However, the application of RL in a large-scale decentralized multi-agent environment remains a challenging problem due to the partial observability and limited communications between agents. In this paper, we develop a model-based kernel RL approach and a model-free deep RL approach for learning a decentralized, shared policy among homogeneous agents. By leveraging the strengths of both these methods, we further propose a novel deep ensemble multi-agent reinforcement learning (MARL) method that efficiently learns to arbitrate between the decisions of the local kernel-based RL model and the wider-reaching deep RL model. We validate the proposed deep ensemble method on a highly challenging real-world air traffic control problem, where the goal is to provide effective guidance to aircraft to avoid air traffic congestion, conflicting situations, and to improve arrival timeliness, by dynamically recommending adjustments of aircraft speeds in real-time. Extensive empirical results from an open-source air traffic management simulation model, developed by Eurocontrol and built on a real-world data set including thousands of aircrafts, demonstrate that our proposed deep ensemble MARL method significantly outperforms three state-of-the-art benchmark approaches.

Active screening is a common approach in controlling the spread of recurring infectious diseases such as tuberculosis and influenza. In this approach, health workers periodically select a subset of population for screening. However, given the limited number of health workers, only a small subset of the population can be visited in any given time period. Given the recurrent nature of the disease and rapid spreading, the goal is to minimize the number of infections over a long time horizon. Active screening can be formalized as a sequential combinatorial optimization over the network of people and their connections. The main computational challenges in this formalization arise from i) the combinatorial nature of the problem, ii) the need of sequential planning and iii) the uncertainties in the infectiousness states of the population. Previous works on active screening fail to scale to large time horizon while fully considering the future effect of current interventions. In this paper, we propose a novel reinforcement learning (RL) approach based on Deep Q-Networks (DQN), with several innovative adaptations that are designed to address the above challenges. First, we use graph convolutional networks (GCNs) to represent the Q-function that exploit the node correlations of the underlying contact network. Second, to avoid solving a combinatorial optimization problem in each time period, we decompose the node set selection as a sub-sequence of decisions, and further design a two-level RL framework that solves the problem in a hierarchical way. Finally, to speed-up the slow convergence of RL which arises from reward sparseness, we incorporate ideas from curriculum learning into our hierarchical RL approach. We evaluate our RL algorithm on several real-world networks. Results show that our RL algorithm can scale up to 10 times the problem size of state-of-the-art (the variant that considers the effect of future interventions but unscalable) in terms of planning time horizon. Meanwhile, it outperforms state-of-the-art (the variant that scales up but does not consider the effect of future interventions) by up to 33% in solution quality.

Introduction Reinforcement learning formalizes the concept of learning from interactions.1 Broadly, reinforcement learning focuses on a setting in which an agent (decision maker) sequentially interacts with an environment that is partially unknown to them. At each stage, the agent takes an action and receives a reward. The objective of the agent is to maximize rewards accumulated in the long run. There are many situations in health care where decisions are made sequentially for which reinforcement learning approaches could prove useful for decision making. Throughout this article, we consider treatment prescription as an archetypical example to connect reinforcement learning concepts to a health care setting. In this setting, the care provider, the prescribed treatment, and the patients can be viewed as the agent, the action, and the environment, respectively, as depicted in Figure 1.Figure 1: Sequential treatment of AKI or CKD complications modeled as a reinforcement learning problem.Background In this section, with the objective of making reinforcement learning literature more accessible to a clinical audience, we briefly introduce related fundamental concepts and approaches. We refer the interested reader to Sutton and Barto1 for a comprehensive introduction to reinforcement learning. Markov Decision Processes Markov decision processes (MDPs) are a formalism of the sequential decision-making problem that has been central to the theoretical and practical advancements of reinforcement learning. In each stage of an MDP, the agent observes the state of the environment and takes an action, which, in turn, results in a change of the state. This change of state is assumed to be probabilistic with the next state being determined only by the preceding state, the chosen action, and the transition probability. The agent also receives a reward that is a function of the taken action, the preceding state, and the subsequent state. In an MDP, the objective of the agent is to maximize the return defined as the reward accumulated over a time horizon. In some applications, it is common to consider the horizon to be infinite, in which case the future rewards are discounted by a factor smaller than one. The selection of action by the agent on the basis of the observed state is known as the policy. More formally, a policy is a probabilistic mapping from states to each possible action. Because the policy and the reward are a function of the state, it is critical to estimate the utility of being in a certain state. More specifically, the value function is defined as the expected return starting from a given state under the chosen policy. Under this formalism, the objective of the agent is to find the optimal policy that maximizes the value function for all states. Reinforcement Learning Methods Action-value methods are a class of reinforcement learning methods in which the actions are chosen on the basis of the estimation of their long-term value. A prominent example of an action-value method is Q-learning in which the agent iteratively takes actions with the highest estimated values and updates the action-state value function on the basis of new observations. Policy gradient methods are another class of reinforcement learning methods that seek to optimize the policy directly instead of choosing actions on the basis of their respective estimated value. Such methods could be advantageous in health care applications that entail a large number of possible actions, e.g., when recommending a wide range of drug dosages or treatment options. Clinical Applications Reinforcement learning frameworks and methods are broadly applicable to clinical settings in which decisions are made sequentially. A prominent clinical application of reinforcement learning is for treatment recommendation, which has been studied across a variety of diseases and treatments including radiation and chemotherapy for cancer, brain stimulation for epilepsy, and treatment strategies for sepsis.2–5 In such treatment recommendation settings, a policy is commonly known as a dynamic treatment regime. There are various other clinical applications of reinforcement learning including diagnosis, medical imaging, and decision support tools (see refs. 2–5 and the references therein). Reinforcement Learning in Nephrology Although there have been recent applications of machine learning in nephrology,6,7 to the best of the authors' knowledge, the application of reinforcement learning to nephrology has been primarily limited to optimizing the erythropoietin dosage in hemodialysis patients.8,9 However, there are other settings where reinforcement learning has the potential to improve patient care in nephrology. For example, reinforcement learning methods can be adopted in the treatment of the complications of AKI or CKD (Figure 1). In this problem, the state models the conditions of the patient (e.g., vital signs, laboratory test results including urine and blood tests, and urine output measurements). The action refers to the treatment options (e.g., the dosage of medications such as sodium polystyrene sulfonate, and hemodialysis). The reward models the improvement in patient conditions. Similarly, reinforcement learning can help automate and optimize the dosage of immunosuppressive drugs in kidney transplants. Challenges and Opportunities Despite the success of reinforcement learning in several simplified clinical settings, their large-scale application to patient care faces several open challenges. The complexity of human biology complicates modeling clinical decision making as a reinforcement learning problem. The state space in such settings is often enormous, which could make a purely computational approach infeasible. Moreover, modeling all potential objectives a priori as a reward function may not be feasible. To overcome these challenges and realize the potential of reinforcement learning, clinical insight can play a pivotal role. More specifically, restricting the state space to only include highly relevant clinical variables could greatly reduce the computational complexity. Furthermore, using inverse reinforcement learning,2 relevant reward functions can be learned from retrospective studies assuming the optimality of clinical decisions. Another critical challenge is addressing moral and ethical concerns. It is imperative to ensure that reinforcement learning methods do not cause harm to the patient. To this end, there exists a need for a thorough validation of such methods before their use in patient care. Hence, there is a need to go beyond retrospective studies that have been used for the proof of concept of most existing reinforcement learning methods in health care applications.2,3 The lessons learned from the success of reinforcement learning in other application areas (e.g., self-driving cars) can help navigate the path to realizing its potential in health care. Accessible open-source simulation environments that enable researchers to compare various approaches are essential to the field of reinforcement learning. OpenAI Gym is currently the leading toolkit containing a wide range of simulated environments, e.g., surgical robotics.10 The development of high-quality and reliable simulation environments for nephrology and other health care applications can facilitate the development and validation of reinforcement learning methods beyond limited retrospective studies. The adoption of methods validated in such simulation environments in actual clinical settings will require clinicians' oversight. Similar to how self-driving cars require a human driver to ensure collision avoidance, clinicians' oversight is critical to ensure the safety of the patients, especially in the early stages of the adoption of reinforcement learning methods. The data from clinicians' decisions (e.g., overruling the automated treatment recommendation) can be used to improve the reliability of autonomous systems over time and reduce the burden of clinicians' oversight.

From COTS Simulation Software to an Open-source Platform: A Use Case in the Medical Device Industry

To find the path that minimizes the time to navigate between two given points in a fluid flow is known as Zermelo's problem. Here, we investigate it by using a Reinforcement Learning (RL) approach for the case of a vessel that has a slip velocity with fixed intensity, Vs, but variable direction and navigating in a 2D turbulent sea. We show that an Actor-Critic RL algorithm is able to find quasioptimal solutions for both time-independent and chaotically evolving flow configurations. For the frozen case, we also compared the results with strategies obtained analytically from continuous Optimal Navigation (ON) protocols. We show that for our application, ON solutions are unstable for the typical duration of the navigation process and are, therefore, not useful in practice. On the other hand, RL solutions are much more robust with respect to small changes in the initial conditions and to external noise, even when Vs is much smaller than the maximum flow velocity. Furthermore, we show how the RL approach is able to take advantage of the flow properties in order to reach the target, especially when the steering speed is small.

Reinforcement learning for a class of continuous-time input constrained optimal control problems

The search for interpretable reinforcement learning policies is of high academic and industrial interest. Especially for industrial systems, domain experts are more likely to deploy autonomously learned controllers if they are understandable and convenient to evaluate. Basic algebraic equations are supposed to meet these requirements, as long as they are restricted to an adequate complexity. In our recent work "Interpretable policies for reinforcement learning by genetic programming" published in Engineering Applications of Artificial Intelligence 76 (2018), we introduced the genetic programming for reinforcement learning (GPRL) approach. GPRL uses model-based batch reinforcement learning and genetic programming and autonomously learns policy equations from preexisting default state-action trajectory samples. Experiments on three reinforcement learning benchmarks demonstrate that GPRL can produce human-interpretable policies of high control performance.

Interpretable policies for reinforcement learning by genetic programming

Considering the real employment situation of the disabled, it was concluded that there is demand for a robot system that can be used in a real manufacturing environment. To derive our mission statement, we conducted a survey with three criteria: `A. to assist the disabled as much as possible'; `B. to consider the real situation of employment for the disabled'; and `C. to provide assistance for the most necessary tasks for the disabled in the work space'. Based on the survey results, our goal can be stated as follows: To develop work assistive mobile robots to help persons with limb disabilities obtain jobs in manufacturing environments where they can perform simple manual labor. Here, simple labor includes such tasks as circuit inspection and moving boxes. For our goal, we developed two types of work assistive mobile robots, which are small enough to work in the confined environments of real factories. Work assistive mobile robot type I is equipped with a forklift to move boxes and a robotic arm to help with jobs requiring more dexterity. Robot type II is compact in size, adopting an omni-wheel driving mechanism, and is equipped with a lift having a foldable fork. We gathered feedback from empirical work done on the two robots.

This paper tackles the complex problem of maximizing the ergodic sum-rate in intelligent reflecting surface (IRS)-assisted full-duplex (FD) cluster non-orthogonal multiple access wireless-powered communication networks. The primary challenge lies in the joint optimization of hybrid access point (HAP) beamforming vectors, IRS phase shifts, and uplink power allocation for sensors, while considering practical constraints— including channel uncertainties, a nonlinear energy harvesting model, self-interference at both the HAP and sensors due to FD transmission, the rank-one constraint of the IRS, and the limited buffer capacity of the sensors. These factors result in an NP-hard optimization problem that conventional approaches cannot solve efficiently. To address this, we propose utilizing a deep reinforcement learning framework based on the twin delayed deep deterministic policy gradient (TD3) algorithm. Our results show that TD3 improves the system’s average sum-rate by up to 12% and 48% over the deep deterministic policy gradient (DDPG) and random allocation benchmarks, respectively. The results also show that both TD3 and DDPG have similar computational complexity. Thus, TD3 achieves a favorable balance between performance and computational complexity, making it a scalable and practical solution for next-generation networks where spectrum efficiency and throughput maximization are critical in hyper-dense environments.

Mobile Edge Computing (MEC) is a promising paradigm to support high-quality time-sensitive applications. In this paper, we investigate the service migration (i.e., whether, when, and where to migrate the services) to seamlessly serve mobile users in small-cell MEC systems. The service migration is formulated as an optimization problem to minimize the long-term system average delay that consists of queuing, communication, and migration delays. Considering the dynamic user mobility and network conditions, the formulated problem is non-convex and difficult to solve in real time. To this end, we propose a Mobility-aware Service Migration scheme, named MSM, to make real-time decisions on service migrations by utilizing reinforcement learning (RL) approaches. Specifically, we first design a user classification mechanism based on users’ mobility patterns to reduce the complexity of decision-making. We then formulate the service migration as a Markov decision process and devise an RL-based framework to make service migration decisions in real time in the dynamic MEC environment. Extensive data-driven experiments demonstrate the efficacy of MSM in reducing the system average delay.

The emergence of various applications is driving the continuous development of 5G mobile networks as infrastructure. To better support real-time wireless services, the low-latency communication is the current research focus. However, the existing radio resource scheduling methods cannot guarantee the strict delay constraint of the low-latency communication. Therefore, a reinforcement learning (RL) approach of radio spectrum resource scheduling strategy is proposed, which can guarantee the low-latency constraint when spectrum resources are insufficient. The Q-learning algorithm is used to approximate the optimal goal of RL. To speed up the learning, the deep neural network (DNN) is used to train the learning parameters. Simulation results show that the strategy converges quickly and has satisfactory results for mobile networks with a high load of spectrum resources.

Dialogue policy plays an important role in task-oriented spoken dialogue systems. It determines how to respond to users. The recently proposed deep reinforcement learning (DRL) approaches have been used for policy optimization. However, these deep models are still challenging for two reasons: first, many DRL-based policies are not sample efficient; and second, most models do not have the capability of policy transfer between different domains. In this paper, we propose a universal framework, AgentGraph, to tackle these two problems. The proposed AgentGraph is the combination of graph neural network (GNN) based architecture and DRL-based algorithm. It can be regarded as one of the multi-agent reinforcement learning approaches. Each agent corresponds to a node in a graph, which is defined according to the dialogue domain ontology. When making a decision, each agent can communicate with its neighbors on the graph. Under AgentGraph framework, we further propose dual GNN-based dialogue policy, which implicitly decomposes the decision in each turn into a high-level global decision and a low-level local decision. Experiments show that AgentGraph models significantly outperform traditional reinforcement learning approaches on most of the 18 tasks of the PyDial benchmark. Moreover, when transferred from the source task to a target task, these models not only have acceptable initial performance but also converge much faster on the target task.

In this article, we propose a novel reinforcement learning (RL) approach specialized for autonomous boats: sample‐efficient probabilistic model predictive control (SPMPC), to iteratively learn control policies of boats in real ocean environments without human prior knowledge. SPMPC addresses difficulties arising from large uncertainties in this challenging application and the need for rapid adaptation to dynamic environmental conditions, and the extremely high cost of exploring and sampling with a real vessel. SPMPC combines a Gaussian process model and model predictive control under a model‐based RL framework to iteratively model and quickly respond to uncertain ocean environments while maintaining sample efficiency. A SPMPC system is developed with features including quadrant‐based action search rule, bias compensation, and parallel computing that contribute to better control capabilities. It successfully learns to control a full‐sized single‐engine boat equipped with sensors measuring GPS position, speed, direction, and wind, in a real‐world position holding task without models from human demonstration.

Experimental research such as cell cultures and carbon nanotube (CNT) growth are largely governed by following predefined execution protocols with fine-tuned control of parameters. There are promising opportunities to apply reinforcement learning (RL), an established learning technique in the area of artificial intelligence, in order to automate CNT growth process and accelerate related scientific breakthroughs in material discovery. Although there are benefits in RL-based exploration and exploitation methodologies, there are also challenges in developing relevant learning policies in experimental settings relating to CNT growth. In this paper, we present a novel data-driven RL approach for assisting experimental CNT growth. Our approach focuses on developing an RL model to learn from simulation-based images and characteristics of temporal CNT growth, considering various growth parameters. Our RL model learns from CNT growth variation in a simulation-based environment where critical control parameters, such as density, growth rate, tube radius, tube stiffness, and Van der Waals forces, are used. Our RL model enables CNT growth automation in order to explore of a wider range of growth conditions, and improve reproducibility. The ultimate goal of our RL model is to achieve desired CNT growth by dynamically controlling growth parameters throughout a sequence of experiments. We evaluate the effectiveness of our RL approach by measuring the improvement in the maximum compressive strength of a carbon nanotube ‘with’ and ‘without’ the RL model. Our results show the effectiveness of course correction recommended by our RL approach when controlling the parameters of angular deviation and rate of growth of carbon nanotubes, when compared against non-regulated CNT growth.