| Presentation | 2003/10/16 Learning Arm's Posture Control using Reinforcement Learning and Feedback Error Learning Hiroyuki KAMBARA, Kyuengbo MIN, Jaehyo KIM, Makoto SATO, Yasuharu KOIKE, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we propose a learning system with Actor-Critic method and feedback error learning. Actor-Critic method is one of the major framework in reinforcement learning. We use this method for obtaining the feedback controller in feedback error learning architecture, and Actor's output is used as an error signal of inverse dynamics model. By appling the proposed learning system to arm's posture control, we shows that a proper feedforward motor command could be acquired from all by a scalar value of reward. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Reinforcement Learing / Actor-Critic / Feedback Error Learing / Inverse Dynamics Model / Posture Control |
| Paper # | PRMU2003-124,NC2003-55 |
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| Committee | PRMU |
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| Conference Date | 2003/10/16(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Learning Arm's Posture Control using Reinforcement Learning and Feedback Error Learning |
| Sub Title (in English) | |
| Keyword(1) | Reinforcement Learing |
| Keyword(2) | Actor-Critic |
| Keyword(3) | Feedback Error Learing |
| Keyword(4) | Inverse Dynamics Model |
| Keyword(5) | Posture Control |
| 1st Author's Name | Hiroyuki KAMBARA |
| 1st Author's Affiliation | Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology() |
| 2nd Author's Name | Kyuengbo MIN |
| 2nd Author's Affiliation | JST PRESTO, Precision and Intelligence Laboratory, Tokyo Institute of Technology |
| 3rd Author's Name | Jaehyo KIM |
| 3rd Author's Affiliation | Precision and Intelligence Laboratory, Tokyo Institute of Technology |
| 4th Author's Name | Makoto SATO |
| 4th Author's Affiliation | Precision and Intelligence Laboratory, Tokyo Institute of Technology |
| 5th Author's Name | Yasuharu KOIKE |
| 5th Author's Affiliation | JST PRESTO, Precision and Intelligence Laboratory, Tokyo Institute of Technology |
| Date | 2003/10/16 |
| Paper # | PRMU2003-124,NC2003-55 |
| Volume (vol) | vol.103 |
| Number (no) | 389 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |