| Presentation | 2004/3/12 Reinforcement learning based on a policy gradient method for biped locomotion Takeshi MORI, Yutaka NAKAMURA, Shin ISHII, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Recently, an actor-critic method utilizing a lower dimensional projection of the value function based on a policy gradient method has been proposed. In this actor-critic method, the approximation of the value function is relatively easy, because the dimension of the projection space is lower than that of the state and action spaces. Then, its applications to real problems such as robot control can be easy. In our previous study, we presented a CPG-actor-critic model, which is a reinforcement learning model based on biological concepts, and applied it to an automatic control problem of a biped robot. In this report, we apply the actor-critic method based on the policy gradient method to the CPG-actor-critic model, and show that our method achieves robust control of the biped robot. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Reinforcement learning / Policy gradient method / Actor-critic method / Biped locomotion / Central pattern generator |
| Paper # | NC2003-206 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2004/3/12(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Reinforcement learning based on a policy gradient method for biped locomotion |
| Sub Title (in English) | |
| Keyword(1) | Reinforcement learning |
| Keyword(2) | Policy gradient method |
| Keyword(3) | Actor-critic method |
| Keyword(4) | Biped locomotion |
| Keyword(5) | Central pattern generator |
| 1st Author's Name | Takeshi MORI |
| 1st Author's Affiliation | Graduate School of Information Science, Nara Institute of Science and Technology() |
| 2nd Author's Name | Yutaka NAKAMURA |
| 2nd Author's Affiliation | Graduate School of Information Science, Nara Institute of Science and Technology |
| 3rd Author's Name | Shin ISHII |
| 3rd Author's Affiliation | Graduate School of Information Science, Nara Institute of Science and Technology |
| Date | 2004/3/12 |
| Paper # | NC2003-206 |
| Volume (vol) | vol.103 |
| Number (no) | 734 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |