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题名: Effective strategies for complex skill real-time learning using reinforcement learning
作者: Wei YZ(魏英姿) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
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
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
出版日期: 2003
页码: 388-392
收录类别: CPCI(ISTP)
ISBN号: 0-7803-7925-X
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.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8685
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
魏英姿; 赵明扬 .Effective strategies for complex skill real-time learning using reinforcement learning.见:IEEE .2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS,NEW YORK,2003,388-392
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