TY - GEN
T1 - Reinforcement learning based on state space model using growing neural gas for a mobile robot
AU - Arai, Tomoyuki
AU - Toda, Yuichiro
AU - Mutsumi, Iwasa
AU - Shao, Shuai
AU - Tonomura, Ryuta
AU - Kubota, Naoyuki
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In the application of Reinforcement Learning to real tasks, a state space construction is an important problem. In order to use in real world environment, we need to deal with the problem of continuous information. Therefore, we proposed a Growing Neural Gas method based on state space construction model. In our system, the agent constructs State Space Model from its own experience autonomously. Furthermore, it can reconstruct a suitable state space to adapt complication of the environment. Through the experiments, we showed that our method using state space performs as well as the conventional method by using a smaller number of states.
AB - In the application of Reinforcement Learning to real tasks, a state space construction is an important problem. In order to use in real world environment, we need to deal with the problem of continuous information. Therefore, we proposed a Growing Neural Gas method based on state space construction model. In our system, the agent constructs State Space Model from its own experience autonomously. Furthermore, it can reconstruct a suitable state space to adapt complication of the environment. Through the experiments, we showed that our method using state space performs as well as the conventional method by using a smaller number of states.
KW - Mobile Robot
KW - Reinforcement Learning
KW - Self-organization
KW - State Space
UR - http://www.scopus.com/inward/record.url?scp=85067091629&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85067091629&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2018.00220
DO - 10.1109/SCIS-ISIS.2018.00220
M3 - Conference contribution
AN - SCOPUS:85067091629
T3 - Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
SP - 1410
EP - 1413
BT - Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
Y2 - 5 December 2018 through 8 December 2018
ER -