| Presentation | 1998/10/24 Multiple Model-based reinforcement learning for Non-linear control Kenichi Katagiri, Kenji Doya, Mitsuo Kawato, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Reinforcement learning architecture can learn to accomplish a given task in an unknown environment. However reinforcement learning architecture can not easily deal with non-stationary, non-linear systems. In this study we propose a multiple models-based reinforcement learning (MMRL) architecture in which pairs of forward-models and reinforcement learning modules are switched or combined using the softmax function of the prediction errors. We performed a simulation of the task of swinging up a pendulum. The result indicates that MMRL can accomplish a highly non-linear control task. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | reinforcement learning / multiple models / motor control / swing up |
| Paper # | NC98-46 |
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| Committee | NC |
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| Conference Date | 1998/10/24(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) | Multiple Model-based reinforcement learning for Non-linear control |
| Sub Title (in English) | |
| Keyword(1) | reinforcement learning |
| Keyword(2) | multiple models |
| Keyword(3) | motor control |
| Keyword(4) | swing up |
| 1st Author's Name | Kenichi Katagiri |
| 1st Author's Affiliation | Graduate School of Information Science, Nara Institute of Science and Technology:ART Human Information Processing Res. Labs.() |
| 2nd Author's Name | Kenji Doya |
| 2nd Author's Affiliation | Kawato Dynamic Brain Project, JST:Graduate School of Information Science, Nara Institute of Science and Technology |
| 3rd Author's Name | Mitsuo Kawato |
| 3rd Author's Affiliation | ATR Human Information Processing Res. Labs.:Kawato Dynamic Brain Project, JST |
| Date | 1998/10/24 |
| Paper # | NC98-46 |
| Volume (vol) | vol.98 |
| Number (no) | 365 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |