The invention discloses a heterogeneous
perception task scheduling method and
system based on personalized federal
reinforcement learning, and the method comprises the steps: constructing a task scheduling environment with a scene boundary based on load data, and constructing a local scheduling model based on the task scheduling environment through employing a dual-reviewer near-end strategy optimization
algorithm; according to the method, public reviewer
network model parameters in a constructed local scheduling model are aggregated, a personalized model is generated based on multi-head attention weights, and value
estimation of local reviews and public reviews is fused by introducing Dual-Critic PPO, so that the problem of performance reduction of a
global model in a heterogeneous environment is effectively relieved; and meanwhile, the stability of
advantage estimation and the reliability of strategy updating are improved. According to the method, a
server side carries out personalized aggregation on public reviewer parameters through a multi-head attention mechanism, so that different clients can obtain public models matched with environment characteristics of the clients instead of depending on a general average model, and thus faster convergence and stronger personalized
adaptation are realized.