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| Presentation | 2011-03-07 16:25 Fusing Learning Strategies to Learn Various Tasks with Single Configuration Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara (NAIST)  NC2010-154 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | This paper proposes a method to fuse learning strategies (LSs) in reinforcement learning framework. Generally, we need to choose a suitable LS for each task respectively. In contrast, the proposed method automates this selection by fusing LSs. The LSs fused in this paper includes a transfer learning, a hierarchical RL, and a model based RL. The proposed method has a wide applicability. When the method is applied to a motion learning task, such as a crawling task, the performance of motion may be improved compared to an agent with a single LS. The method also can be applied to a navigation task by hierarchically combining already learned motions, such as a crawling and a turning. This paper demonstrates a maze task of a humanoid robot where the robot learns not only a path to goal, but also a crawling and a turning motions. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Learning System / Reinforcement Learning / Modularization / Motion Learning / Humanoid Robot / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 110, no. 461, NC2010-154, pp. 159-164, March 2011. | |
| Paper # | NC2010-154 | |
| Date of Issue | 2011-02-28 (NC) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | NC2010-154 |
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| Conference Information | |
| Committee | NC MBE |
| Conference Date | 2011-03-07 - 2011-03-09 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tamagawa University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | NC |
| Conference Code | 2011-03-NC-MBE |
| Language | English |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Fusing Learning Strategies to Learn Various Tasks with Single Configuration |
| Sub Title (in English) | |
| Keyword(1) | Learning System |
| Keyword(2) | Reinforcement Learning |
| Keyword(3) | Modularization |
| Keyword(4) | Motion Learning |
| Keyword(5) | Humanoid Robot |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Akihiko Yamaguchi |
| 1st Author's Affiliation | Nara Institute of Science and Technology (NAIST) |
| 2nd Author's Name | Jun Takamatsu |
| 2nd Author's Affiliation | Nara Institute of Science and Technology (NAIST) |
| 3rd Author's Name | Tsukasa Ogasawara |
| 3rd Author's Affiliation | Nara Institute of Science and Technology (NAIST) |
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| Speaker | Author-1 |
| Date Time | 2011-03-07 16:25:00 |
| Presentation Time | 25 minutes |
| Registration for | NC |
| Paper # | NC2010-154 |
| Volume (vol) | vol.110 |
| Number (no) | no.461 |
| Page | pp.159-164 |
| #Pages | 6 |
| Date of Issue | 2011-02-28 (NC) |
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