Reinforcement learning algorithm with CTRNN in continuous action space

Hiroaki Arie, Jun Namikawa, Tetsuya Ogata, Jun Tani, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

There are some difficulties in applying traditional reinforcement learning algorithms to motion control tasks of robot. Because most algorithms are concerned with discrete actions and based on the assumption of complete observability of the state. This paper deals with these two problems by combining the reinforcement learning algorithm and CTRNN learning algorithm. We carried out an experiment on the pendulum swing-up task without rotational speed information. It is shown that the information about the rotational speed, which is considered as a hidden state, is estimated and encoded on the activation of a context neuron. As a result, this task is accomplished in several hundred trials using the proposed algorithm.

Original languageEnglish
Title of host publicationNeural Information Processing - 13th International Conference, ICONIP 2006, Proceedings
PublisherSpringer Verlag
Pages387-396
Number of pages10
ISBN (Print)3540464794, 9783540464792
Publication statusPublished - 2006 Jan 1
Event13th International Conference on Neural Information Processing, ICONIP 2006 - Hong Kong, China
Duration: 2006 Oct 32006 Oct 6

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4232 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference13th International Conference on Neural Information Processing, ICONIP 2006
CountryChina
CityHong Kong
Period06/10/306/10/6

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Fingerprint Dive into the research topics of 'Reinforcement learning algorithm with CTRNN in continuous action space'. Together they form a unique fingerprint.

  • Cite this

    Arie, H., Namikawa, J., Ogata, T., Tani, J., & Sugano, S. (2006). Reinforcement learning algorithm with CTRNN in continuous action space. In Neural Information Processing - 13th International Conference, ICONIP 2006, Proceedings (pp. 387-396). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4232 LNCS). Springer Verlag.