Introduction to Reinforcement Learning
Introduction to Reinforcement Learning
Learning to Predict by the Methods of Temporal Differences
Machine Learning
Reinforcement Learning in Continuous Time and Space
Neural Computation
Guided self-organisation for autonomous robot development
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
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In order to find a control policy for an autonomous robot by reinforcement learning, the utility of a behaviour can be revealed locally through a modulation of the motor command by probing actions. For robots with many degrees of freedom, this type of exploration becomes inefficient such that it is an interesting option to use an auxiliary controller for the selection of promising probing actions. We suggest here to optimise the exploratory modulation by a self-organising controller. The approach is illustrated by two control tasks, namely swing-up of a pendulum and walking in a simulated hexapod. The results imply that the homeokinetic approach is beneficial for high complexity problems.