Federated Deep Reinforcement Learning for Task Scheduling in Heterogeneous Autonomous Robotic System
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Bibliographic record
Abstract
In this paper, we investigate the problem of task scheduling in automated warehouses with hetero-geneous autonomous robotic systems. We formulate the task scheduling for a heterogeneous autonomous robots (HAR) system in each warehouse as a queueing control optimization problem in which we aim to minimize the queue length of tasks that are waiting to be processed. We propose a deep reinforcement learning (DRL) based approach that employs the proximal policy optimization (PPO) to achieve an optimal task scheduling policy. We then propose a federated learning based algorithm to improve the performance of the PPO agents. The simulation results fully demonstrate the performance improvement of our proposed algorithm in terms of average queue length compared to the distributed learning algorithm.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.002 |
| Science and technology studies | 0.003 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.004 | 0.004 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it