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Introduction to Reinforcement Learning
Introduction to Reinforcement Learning
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Cognitive Developmental Robotics: A Survey
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Intrinsically Motivated Hierarchical Skill Learning in Structured Environments
IEEE Transactions on Autonomous Mental Development
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The design and implementation of a robot brain often requires making decisions between different modules with similar functionality. Many implementations and components are easy to create or can be downloaded, but it is difficult to assess which combination of modules work well and which does not. This paper discusses a reinforcement learning mechanism where the robot is choosing between the different components using empirical feedback and optimization criteria. With the interval estimation algorithm the robot deselects poorly functioning modules and retains only the best ones. A discount factor ensures that the robot keeps adapting to new circumstances in the real world. This allows the robot to adapt itself continuously on the architecture level and also allows working with large development teams creating several different implementations with similar functionalities to give the robot biggest chance to solve a task. The architecture is tested in the RoboCup@Home setting and can handle failure situations.