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Initial experiments on reinforcement learning control of cooperative manipulations

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4 Author(s)
Svinin, M.M. ; RIKEN, Inst. of Phys. & Chem. Res., Saitama, Japan ; Kojima, F. ; Katada, Y. ; Ueda, K.

The paper deals with instance-based reinforcement learning control of autonomous robots. A classifier system, defined in the continuous state and action spaces, is outlined. Based on the sensory state space analysis, we define a learning strategy and fix the structure of the action rules. The classifier system features a nonconservative bucket brigade algorithm and a fast reproduction mechanism. The system developed is then applied to learning cooperative behavior by two robots coupled via a common object, with each robot controlled by its own classifier. The feasibility of this scheme is tested under experiment with two Lynxmotion robots, and a motion pattern of cooperative behavior (lifting up an object) is evolved using the two interacting classifier systems

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:1 )

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