PIECEWISE CONSTANT REINFORCEMENT LEARNING FOR ROBOTIC APPLICATIONS

Andrea Bonarini, Alessandro Lazaric, Marcello Restelli

2007

Abstract

Writing good behaviors for mobile robots is a hard task that requires a lot of hand tuning and often fails to consider all the possible configurations that a robot may face. By using reinforcement learning techniques a robot can improve its performance through a direct interaction with the surrounding environment and adapt its behavior in response to some non-stationary events, thus achieving a higher degree of autonomy with respect to pre-programmed robots. In this paper, we propose a novel reinforcement learning approach that addresses the main issues of learning in real-world robotic applications: experience is expensive, explorative actions are risky, control policy must be robust, state space is continuous. Preliminary results performed on a real robot suggest that on-line reinforcement learning, matching some specific solutions, can be effective also in real-world physical environments.

Paper Citation

in Harvard Style

Bonarini A., Lazaric A. and Restelli M. (2007). PIECEWISE CONSTANT REINFORCEMENT LEARNING FOR ROBOTIC APPLICATIONS . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-82-5, pages 214-221. DOI: 10.5220/0001649102140221

in Bibtex Style

@conference{icinco07,
author={Andrea Bonarini and Alessandro Lazaric and Marcello Restelli},
title={PIECEWISE CONSTANT REINFORCEMENT LEARNING FOR ROBOTIC APPLICATIONS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2007},
pages={214-221},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001649102140221},
isbn={978-972-8865-82-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - PIECEWISE CONSTANT REINFORCEMENT LEARNING FOR ROBOTIC APPLICATIONS
SN - 978-972-8865-82-5
AU - Bonarini A.
AU - Lazaric A.
AU - Restelli M.
PY - 2007
SP - 214
EP - 221
DO - 10.5220/0001649102140221