NDLI: Actor-Q based active perception learning system

Content Provider	IEEE Xplore Digital Library
Author	Shibata, K. Nishino, T. Okabe, Y.
Copyright Year	2001
Description	Author affiliation: Dept. of Electr. Eng., Oita Univ., Japan (Shibata, K.)
Abstract	An active perception learning system based on reinforcement learning is proposed. A novel reinforcement architecture, called Actor-Q, is employed in which Q-learning and actor-critic are combined. The system decides its actions according to Q-values. One of the actions is to move its sensor, and the others are to make an answer of its recognition result, each of which corresponds to each pattern. When the sensor motion is selected, the sensor moves according to the actor's output signals. The Q-value for the sensor motion is trained by Q-learning, and the Actor is trained by the Q-value for the sensor motion on behalf of the critic. When one of the other actions is selected, the system outputs the recognition result. When the recognition answer is correct, the Q-value is trained to be the upper limit of the Q-value, and when the answer is not correct, it is trained to be 0.0. The module to compute Q-value and the actor module are both consisted of a neural network, and are trained by error backpropagation. The training signals are generated based on the above reinforcement learning. It was confirmed by some simulations using a visual sensor with nonuniform visual cells that the system moves its sensor to the place where it can recognize the presented pattern correctly. Even though the Q-value surface as a function of the sensor location has some local peaks, the sensor was not trapped and moved to the appropriate direction because the Q-value for the sensor motion becomes larger.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	1000
Ending Page	1005
File Size	1221470
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.932680
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Learning systems Neural networks Sensor systems Computer networks Signal generators Computational modeling Pattern recognition Retina Target recognition Focusing
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
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@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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