NDLI: Vision-based reinforcement learning for purposive behavior acquisition

Content Provider	IEEE Xplore Digital Library
Author	Asada, M. Noda, S. Tawaratsumida, S. Hosoda, K.
Copyright Year	1995
Description	Author affiliation: Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan (Asada, M.; Noda, S.; Tawaratsumida, S.; Hosoda, K.)
Abstract	This paper presents a method of vision-based reinforcement learning by which a robot learns to shoot a ball into a goal, and discusses several issues in applying the reinforcement learning method to a real robot with vision sensor. First, a "state-action deviation" problem is found as a form of perceptual aliasing in constructing the state and action spaces that reflect the outputs from physical sensors and actuators, respectively. To cope with this, an action set is constructed in such a way that one action consists of a series of the same action primitive which is successively executed until the current state changes. Next, to speed up the learning time, a mechanism of learning form easy missions (or LEM) which is a similar technique to "shaping" in animal learning is implemented. LEM reduces the learning time from the exponential order in the size of the state space to about the linear order in the size of the state space. The results of computer simulations and real robot experiments are given.
Starting Page	146
Ending Page	153
File Size	1085709
Page Count	8
File Format	PDF
ISBN	0780319656
ISSN	10504729
DOI	10.1109/ROBOT.1995.525277
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Orbital robotics Robotics and automation Machine learning State-space methods Robot vision systems Actuators Robot control Mobile robots Computer vision
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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