Learning to control a joint driven double inverted pendulum using nested actor/critic algorithm

N. Kobori, K. Suzuki, P. Hartono, S. Hashimoto

    研究成果: Conference contribution

    5 被引用数 (Scopus)

    抄録

    In recent years, 'Reinforcement Learning' which can acquire reflective and adaptive actions, is becoming the center of attention as a learning method for robotics control. However, there are many unsolved problems that have to be cleared in order to put the method into practical use. One of the problems is the handling of the state space and the action space. Many algorithms of existing reinforcement learning deal with discrete state space and action space. When the unit of search space is rough, a subtle control cannot be achieved (imperfect perception). On the contrary, when the unit of search space is too fine, searching space is enlarged accordingly and the stable convergence of learning cannot be obtained (curse of dimensionality). In this paper, we propose a nested actor/critic algorithm that can deal with the continuous state and action space. The method proposed in this paper inserts a child actor/critic into the actor part of parent actor/critic algorithm. We examined the proposed algorithm for a stable control problem in both simulation and prototype model of a joint-driven double inverted pendulum.

    本文言語English
    ホスト出版物のタイトルICONIP 2002 - Proceedings of the 9th International Conference on Neural Information Processing: Computational Intelligence for the E-Age
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ2610-2614
    ページ数5
    5
    ISBN(電子版)9810475241, 9789810475246
    DOI
    出版ステータスPublished - 2002
    イベント9th International Conference on Neural Information Processing, ICONIP 2002 - Singapore, Singapore
    継続期間: 2002 11 182002 11 22

    Other

    Other9th International Conference on Neural Information Processing, ICONIP 2002
    国/地域Singapore
    CitySingapore
    Period02/11/1802/11/22

    ASJC Scopus subject areas

    • コンピュータ ネットワークおよび通信
    • 情報システム
    • 信号処理

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