TY - GEN
T1 - Behavior Acquisition on a Mobile Robot Using Reinforcement Learning with Continuous State Space
AU - Arai, Tomoyuki
AU - Toda, Yuichiro
AU - Kubota, Naoyuki
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - In the application of Reinforcement Learning to real tasks, the construction of state space is a significant problem. In order to use in the real-world environment, we need to deal with the problem of continuous information. Therefore, we proposed a method of the construction of state space using Growing Neural Gas. In our method, the agent constructs a state space model from its own experience autonomously. Furthermore, it can reconstruct the suitable state space model to adapt the complication of the environment. Through the experiments, we showed that Reinforcement Learning could be performed efficiently by successively updating the state space model according to the environment.
AB - In the application of Reinforcement Learning to real tasks, the construction of state space is a significant problem. In order to use in the real-world environment, we need to deal with the problem of continuous information. Therefore, we proposed a method of the construction of state space using Growing Neural Gas. In our method, the agent constructs a state space model from its own experience autonomously. Furthermore, it can reconstruct the suitable state space model to adapt the complication of the environment. Through the experiments, we showed that Reinforcement Learning could be performed efficiently by successively updating the state space model according to the environment.
KW - Machine learning
KW - Mobile robot
KW - Reinforcement learning
KW - Self-Organization
KW - State space
UR - http://www.scopus.com/inward/record.url?scp=85078528811&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85078528811&partnerID=8YFLogxK
U2 - 10.1109/ICMLC48188.2019.8949181
DO - 10.1109/ICMLC48188.2019.8949181
M3 - Conference contribution
AN - SCOPUS:85078528811
T3 - Proceedings - International Conference on Machine Learning and Cybernetics
BT - Proceedings of 2019 International Conference on Machine Learning and Cybernetics, ICMLC 2019
PB - IEEE Computer Society
T2 - 18th International Conference on Machine Learning and Cybernetics, ICMLC 2019
Y2 - 7 July 2019 through 10 July 2019
ER -