Incorporating Perception-Based Information in Reinforcement Learning Using Computing with Words
IWANN '01 Proceedings of the 6th International Work-Conference on Artificial and Natural Neural Networks: Bio-inspired Applications of Connectionism-Part II
Dynamic balance of a biped robot using fuzzy reinforcement learning agents
Fuzzy Sets and Systems - Special issue: Fuzzy set techniques for intelligent robotic systems
Motion control of a nonlinear spring by reinforcement learning
Control and Intelligent Systems
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Proposes a four-layered adaptive fuzzy command acquisition network (AFCAN) for adaptively acquiring fuzzy command via interactions with the user or environment. It can catch the intended information from a sentence (command) given in natural language with fuzzy predicates. The intended information includes a meaningful semantic action and the fuzzy linguistic information of that action. The proposed AFCAN has three important features. First, we can make no restrictions whatever on the fuzzy command input, which is used to specify the desired information, and the network requires no acoustic, prosodic, grammar, and syntactic structure, Second, the linguistic information of an action is learned adaptively and it is represented by fuzzy numbers based on α-level sets. Third, the network can learn during the course of performing the task. The AFCAN can perform off-line as well as online learning. For the off-line learning, the mutual-information (MI) supervised learning scheme and the fuzzy backpropagation (FBP) learning scheme are employed when the training data are available in advance. The former learning scheme is used to learn meaningful semantic actions and the latter learn linguistic information. The AFCAN can also perform online learning interactively when it is in use for fuzzy command acquisition. For the online learning, the MI-reinforcement learning scheme and the fuzzy reinforcement learning scheme are developed for the online learning of meaningful actions and linguistic information, respectively. An experimental system is constructed to illustrate the performance and applicability of the proposed AFCAN