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Improved Robustness of Reinforcement Learning Based on Uncertainty and Disturbance Estimator
Jinsuk Choi,Hyunbeen Park,Jongchan Baek,Soohee Han 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
This paper proposes a method to improve the robustness of RLs based on model-free uncertainty and disturbance estimator (RL-based UDE). In the real environment, instead of using optimal trajectory and control techniques to perform complex tasks, it learns through RL and supplements robustness by using uncertainty and disturbance estimator (UDE). From UDE, the robotics system can be improved the stability by appropriately canceling the uncertainty and disturbance without efforts to obtain model information; hence the UDE can compensate for the performance degradation of RL when system is non-stationary. In addition, the performance can be improved by reducing the sensor noise from low-pass filter of UDE. It is shown through an experiment that the proposed RL-based UDE provides robustness.
A Heuristic Buffer Management and Retransmission Control Scheme for Tree-Based Reliable Multicast
Jinsuk Baek,Jehan Francois Paris 한국전자통신연구원 2005 ETRI Journal Vol.27 No.1
We propose a heuristic buffer management scheme that uses both positive and negative acknowledgments to provide scalability and reliability. Under our scheme, most receiver nodes only send negative acknowledgments to their repair nodes to request packet retransmissions while some representative nodes also send positive acknowledgments to indicate which packets can be discarded from the repair node’s buffer. Our scheme provides scalability because it significantly reduces the number of feedbacks sent by the receiver nodes. In addition, it provides fast recovery of transmission errors since the packets requested from the receiver nodes are almost always available in their buffers. Our scheme also reduces the number of additional retransmissions from the original sender node or upstream repair nodes. These features satisfy the original goal of treebased protocols since most packet retransmissions are performed within a local group.
English Learning and Peer Culture: An Ethnographic Case Study of English Underachievers in School
Jinsuk Yang 팬코리아영어교육학회 2019 영어교육연구 Vol.31 No.3
The present study examines English Underachievers’ experiences in the context of public English education. Focusing on two school welfare programs, that is streaming (i.e., level-based teaching) and school counselling, the study focuses on the extent to which the neoliberal tenet of self-help works to support Underachievers’ English learning. The findings show that although the government officials expected the welfare support to be a help for low performers’ academic progress, the actual implementation of the programs failed to take into account working-class peer relations and social conditions of English learning. The neoliberal approach thus has resulted in further marginalization of low performers, a consequence that I identify as the spread of neoliberalism in education.
A Smart Backoff Scheme for Multicast Flows in Wireless LAN
Jinsuk Baek,Min Gyung Kwak,Paul S. Fisher 한국산학기술학회 2015 SmartCR Vol.5 No.3
In IEEE 802.11 wireless protocols, a multicast sender basically adopts a simple broadcasting mechanism to transmit multicast frames. As such, the multicast frames are locally transmitted at a low, fixed rate without any backoff process on the sender’s side or any feedback requirements on the receiver side. This simplicity reveals an unfairly shared channel access between unreliable multicast flows and reliable unicast flows. In this paper, we propose a novel backoff scheme for multicast frame retransmission. The proposed scheme has been strategically designed after considering the sources of multicast frame errors. We define two different types of NAK messages that include a NAK for a single frame error and a cumulative NAK for multiple continuous erroneous frames. For frame retransmission, the multicast sender is required to adaptively adjust its contention window size based on the NAKs sent by its local receiver. With the proposed scheme, we ultimately provide reliable local multicast transmission and a relatively fair channel sharing with low-priority unicast flows.