Apprenticeship learning and reinforcement learning with application to robotic control

 
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Title:
Apprenticeship learning and reinforcement learning with application to robotic control
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ProQuest
Year:
2008
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229
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English
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ISBN:
9780549851097
Last Updated:
February 12th, 2012
Abstract

Many problems in robotics have unknown, stochastic, high-dimensional, and highly nonlinear dynamics, and offer significant challenges to both traditional control methods and reinforcement learning algorithms. Some of the key difficulties that arise in these problems are: (i) It is often difficult to write down, in closed form, a formal specification of the control task. For example, what is the objective function for "flying well"? (ii) It is often difficult to build a good dynamics model because of both data collection and data modeling challenges (similar to the "exploration problem" in reinforcement learning). (iii) It is often computationally expensive to find closed-loop controllers for high dimensional, stochastic domains.


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