A cat-like robot real-time learning to run

Authors:
Paweł Wawrzyński
Affiliations:
Warsaw University of Technology, Poland
Venue:
ICANNGA'09 Proceedings of the 9th international conference on Adaptive and natural computing algorithms
Year:
2009

Citing 6
Cited 0

Automatic programming of behavior-based robots using reinforcement learning

Artificial Intelligence
Technical Note: \cal Q-Learning

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On Actor-Critic Algorithms

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Abstract

Actor-Critics constitute an important class of reinforcement learning algorithms that can deal with continuous actions and states in an easy and natural way. In their original, sequential form, these algorithms are usually to slow to be applicable to real-life problems. However, they can be augmented by the technique of experience replay to obtain a satisfactory of learning without degrading their convergence properties. In this paper experimental results are presented that show that the combination of experience replay and Actor-Critics yields very fast learning algorithms that achieve successful policies for nontrivial control tasks in considerably short time. Namely, a policy for a model of 6-degree-of-freedom walking robot is obtained after 4 hours of the robot's time.