| Paper Abstract and Keywords |
| Presentation |
2006-03-17 11:00
Considering model error when applying an reinforcement learning method to control of a real robot
Yoichi Tokita, Yutaka Nakamura (NAIST), Junichiro Yoshimoto (OIST), Shin Ishii (NAIST) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
Because reinforcement learning (RL) methods have an advantage such that a control rule can be obtained autonomously without any knowledge of the target system. RL methods have been successfully applied to automatic control of various robots such as balancing control of a cart-pole. However, most real control problems have non-linear dynamics with a large number of degrees of freedom, therefore it is necessary to develop an RL method to deal with such situations. This difficulty is called ``curse of dimensionality'' in the context of RL. We formarly proposed an RL method that switches controllers which had been developed in the field of control theory, and applied our method to an automatic control problem of an acrobot. The results showed that a good controller for a simulator can be obtained autonomously but the control of the real acrobot was not stable. In the current study, we propose an RL method which is robust against the system identification error, and show that a good controller for a real robot can be obtained by our method. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
reinforcement learning / system identification / acrobot / / / / / |
| Reference Info. |
IEICE Tech. Rep., vol. 105, no. 659, NC2005-154, pp. 19-24, March 2006. |
| Paper # |
NC2005-154 |
| Date of Issue |
2006-03-10 (NC) |
| ISSN |
Print edition: ISSN 0913-5685 |
| Download PDF |
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| Conference Information |
| Committee |
NC |
| Conference Date |
2006-03-15 - 2006-03-17 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
Tamagawa University |
| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
General |
| Paper Information |
| Registration To |
NC |
| Conference Code |
2006-03-NC |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Considering model error when applying an reinforcement learning method to control of a real robot |
| Sub Title (in English) |
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| Keyword(1) |
reinforcement learning |
| Keyword(2) |
system identification |
| Keyword(3) |
acrobot |
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| 1st Author's Name |
Yoichi Tokita |
| 1st Author's Affiliation |
Nara Institute of Science and Technology (NAIST) |
| 2nd Author's Name |
Yutaka Nakamura |
| 2nd Author's Affiliation |
Nara Institute of Science and Technology (NAIST) |
| 3rd Author's Name |
Junichiro Yoshimoto |
| 3rd Author's Affiliation |
Okinawa Institute of Science and Technology (OIST) |
| 4th Author's Name |
Shin Ishii |
| 4th Author's Affiliation |
Nara Institute of Science and Technology (NAIST) |
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| Speaker |
Author-1 |
| Date Time |
2006-03-17 11:00:00 |
| Presentation Time |
25 minutes |
| Registration for |
NC |
| Paper # |
NC2005-154 |
| Volume (vol) |
vol.105 |
| Number (no) |
no.659 |
| Page |
pp.19-24 |
| #Pages |
6 |
| Date of Issue |
2006-03-10 (NC) |