Reinforcement learning for a vision based mobile robot
Gaskett, Chris, Fletcher, Luke, and Zelinsky, Alexander (2000) Reinforcement learning for a vision based mobile robot. Proceedings of IEEE/RSJ international conference on intelligent robots and systems. Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS2000) , 2000, Takamatsu, Japan , pp. 403-409.
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Reinforcement learning systems improve behaviour based on scalar rewards from a critic. In this work vision based behaviours, servoing and wandering, are learned through a Q-learning method which handles continuous states and actions. There is no requirement for camera calibration, an actuator model, or a knowledgeable teacher. Learning through observing the actions of other behaviours improves learning speed. Experiments were performed on a mobile robot using a real-time vision system.
|Item Type:||Conference Item (Refereed Research Paper - E1)|
|Keywords:||robotics, reinforcement learning, neural networks, wirefitting|
|FoR Codes:||08 INFORMATION AND COMPUTING SCIENCES > 0801 Artificial Intelligence and Image Processing > 080108 Neural, Evolutionary and Fuzzy Computation @ 0%|
08 INFORMATION AND COMPUTING SCIENCES > 0801 Artificial Intelligence and Image Processing > 080101 Adaptive Agents and Intelligent Robotics @ 0%
|Deposited On:||04 Oct 2006|
|Last Modified:||16 Mar 2011 14:22|
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