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Acquiring robot skills via reinforcement learning

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3 Author(s)
Gullapalli, V. ; Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA ; Franklin, J.A. ; Benbrahim, H.

Skill acquisition is a difficult , yet important problem in robot performance. The authors focus on two skills, namely robotic assembly and balancing and on two classic tasks to develop these skills via learning: the peg-in hole insertion task, and the ball balancing task. A stochastic real-valued (SRV) reinforcement learning algorithm is described and used for learning control and the authors show how it can be used with nonlinear multilayer ANNs. In the peg-in-hole insertion task the SRV network successfully learns to insert to insert a peg into a hole with extremely low clearance, in spite of high sensor noise. In the ball balancing task the SRV network successfully learns to balance the ball with minimal feedback.<>

Published in:

Control Systems, IEEE  (Volume:14 ,  Issue: 1 )

Date of Publication:

Feb. 1994

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