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Towards a supervised dyna-Q application on a robotic manipulator
Örebro University, Department of Technology.
Örebro University, Department of Technology.
Örebro University, Department of Technology.
2005 (English)Conference paper, Poster (with or without abstract) (Refereed)
Abstract [en]

Having a robot that can learn from and improve upon a human demonstration is a challenge for robotic scientists, and useful for non-engineers who want a robotic assistant to perform a particular task. In this paper we address some of the difficulties one will have to overcome when developing such a system for an articulated manipulator with more degrees-offreedom (d.o.f.) than most mobile robots on wheels. Making a good data capture of what is shown to the robot is one such problem. Another key scientific challenge is the curse of dimensionality that arises from the high dimensional state and action spaces in this application, which we propose to address by combination of supervised and reinforcement learning to gain benefits from both paradigms. We also point out that one has to be careful when trying to obtain an agent that learns a task in as few trials as possible, since it might require much more computational time.

Place, publisher, year, edition, pages
2005.
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4093OAI: oai:DiVA.org:oru-4093DiVA, id: diva2:138392
Conference
SAIS-SSLS 2005, 3rd joint workshop of the Swedish AI and learning systems societies
Available from: 2007-11-01 Created: 2007-11-01 Last updated: 2018-01-13Bibliographically approved

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http://aass.oru.se/Research/Learning/publications/2005/Skoglund_etal_2005-SAIS-SSLS-Towards_a_Supervised_Dyna-Q_Application.pdf

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Skoglund, AlexanderPalm, RainerDuckett, Tom

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
  • html
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  • asciidoc
  • rtf