A framework for the robot skill learning using reinforcement learning
文献类型：会议论文
| 作者 | Wei YZ(魏英姿); Zhao MY(赵明扬)
|
| 出版日期 | 2003 |
| 会议名称 | 5th International Symposium on Instrumentation and Control Technology |
| 会议日期 | October 24-27, 2003 |
| 会议地点 | BEIJING, China |
| 关键词 | reinforcement learning robot skill learning control reward function CMAC neural network |
| 页码 | 910-914 |
| 中文摘要 | Robot acquiring skill is a process similar to human skill learning. Reinforcement learning (RL) is an on-line actor critic method for a 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. We present an augmented reward function that provides a new way for RL controller to incorporate prior knowledge and experience into the RL controller. Also, the difference form of augmented reward function is considered carefully. The additional reward beyond conventional reward will provide more heuristic information for RL. 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. The new form of value function is introduced to attain smooth motion switching swiftly. We present a formal, but practical, framework for robot skill learning and also illustrate with an example the utility of method for learning skilled robot control on line. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Natl Nat Sci Fdn China, Chinese Soc Aeronaut & Astronaut, China Instrument & Control Soc, Chinese Soc Astronaut, Chinese Assoc Automat, SPIE, Beijing Univ Aeronaut & Astronaut, Univ Paderborn, Univ Essen, Hiroshima Shudo Univ, Pusan Natl Univ |
| 会议录 | FIFTH INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION AND CONTROL TECHNOLOGY
 |
| 会议录出版者 | SPIE-INT SOC OPTICAL ENGINEERING |
| 会议录出版地 | BELLINGHAM |
| 语种 | 英语 |
| ISSN号 | 0277-786X |
| ISBN号 | 0-8194-5137-1 |
| WOS记录号 | WOS:000187954200193 |
| 源URL | [http://ir.sia.cn/handle/173321/8474]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wei YZ,Zhao MY. A framework for the robot skill learning using reinforcement learning[C]. 见:5th International Symposium on Instrumentation and Control Technology. BEIJING, China. October 24-27, 2003. |
入库方式： OAI收割
来源：沈阳自动化研究所
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