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Please use this identifier to cite or link to this item: http://hdl.handle.net/10445/5286

Title: Fast reinforcement learning for simple physical robots
Authors: Hartono, Pitoyo
Kakita, Sachiko
Abstract: In the past few years, the field of autonomous robot has been rigorously studied and non-industrial applications of robotics are rapidly emerging. One of the most interesting aspects of this field is the development of the learning ability which enables robots to autonomously adapt to given environments without human guidance. As opposed to the conventional methods of robots' control, where human logically design the behavior of a robot, the ability to acquire action strategies through some learning processes will not only significantly reduce the production costs of robots but also improves the applicability of robots in wider tasks and environments. However, learning algorithms usually require large calculation cost, which make them unsuitable for robots with limited resources. In this study, we propose a simple two-layered neural network that implements a novel and fast Reinforcement Learning. The proposed learning method requires significantly less calculation resources, hence applicable to small physical robots running in the real world environments.For this study, we built several simple robots and implemented the proposed learning mechanism to them. In the experiments, to evaluate the efficacy of the proposed learning mechanism, several robots were simultaneously trained to acquire obstacle avoidance strategies in a same environment, thus, forming a dynamic environment where the learning task is substantially harder than in the case of learning in a static environment.
Research Achievement Classification: 原著論文/Original Paper
Type: Journal Article
Peer Review: あり/yes
Solo/Joint Author(s): 共著/joint
Published journal or presented
academic conference: 
Memetic Computing Journal
Volume: 1
Number: 4
Spage: 305
Epage: 313
Date: 2009
Publisher: Springer
Appears in Collections:Pitoyo, Hartono

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