適格度トレースを用いたポートハミルトン系のための決定論的方策勾配法の提案と数値実験による検証

抄録

This paper proposes a deterministic policy gradient method for port-Hamiltonian systems using an eligibility trace. The deterministic policy gradient method commonly uses one of two types of algorithms, either the on- or off-policy method. The proposed algorithm employs the off-policy method to perform a probabilistic search. In addition, we introduce an eligibility trace to the method to speed up the learning process. A numerical simulation shows the effectiveness of the proposed method.