Effective strategies for complex skill real-time learning using reinforcement learning

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Effective strategies for complex skill real-time learning using reinforcement learning
	Wei YZ(魏英姿); Zhao MY(赵明扬)
	2003
会议名称	IEEE International Conference on Robotics, Intelligent Systems and Signal Processing
会议日期	October 8-13, 2003
会议地点	Changsha, China
页码	388-392
中文摘要	Following the principle of human skill learning, robot acquiring skill is a process similar to human skill learning. Reinforcement learning is on-line actor critic method for robot to develop its skill. The reinforcement function has become the critical component for its effect of evaluating the action and guiding the learning process. A difference form of augmented reward function is considered carefully. In this paper we present a strategy for the task of complex skill learning. Automatic robot shaping policy is to dissolve the complex skill into a hierarchical learning process. Variable resolution discretization of input space is introduced to improve the generalization capability of CMAC-based RL. Conventional epsilon-greedy policy has the shortage of unnecessary randomization. Boltzmann distribution selection is also introduced to the balance of exploration and exploitation. We describe our ideas of reinforcement learning methods and also illustrate with an example the utility of method for learning skilled robot control on line.
收录类别	CPCI（ISTP）
产权排序	1
会议主办者	Chinese High tech Dev Program, Chinese Acad Sci, Chinese Soc Automat, IEEE Syst, Man & Cybernet Soc, Chinese Univ Hong Kong, Natl Univ Def Technol, IEEE Hong Kong RA & CS Joint Chapter, Joint Ctr Intelligen Sensing & Syst, Sch Elect Sci & Engn, Sch Mechatron Engn & Automat
会议录	2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-7925-X
WOS记录号	WOS:000189506600068
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8685]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wei YZ,Zhao MY. Effective strategies for complex skill real-time learning using reinforcement learning[C]. 见:IEEE International Conference on Robotics, Intelligent Systems and Signal Processing. Changsha, China. October 8-13, 2003.