Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
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Approximation Bayesian Reinforcement Learning based on Estimation of Plant Variation and its Application to Peg-in-Hole Task
Kei SendaToru HishinumaYurika Tani
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2016 Volume 29 Issue 3 Pages 122-129

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Abstract

In a general reinforcement learning problem, a plant, i.e. state transition probabilities, is estimated, and a learning policy for the estimated plant is applied to a real plant. If there is a difference between the estimated plant and the real plant, the obtained policy may not work well for the real plant. In this study, the real plant variation is parameterized by an interpolation of several estimated plants. This study proposes a reinforcement learning method based on estimation of parameter variation, and applies this method to 2-dimensional Peg-in-Hole Task. The effectiveness of the proposed method is demonstrated by numerical and experimental results.

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© 2016 The Institute of Systems, Control and Information Engineers
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