PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Reinforcement learning by reward-weighted regression for operational space control
Jan Peters and Stefan Schaal
In: International Conference on Machine Learning (ICML2007)(2007).


Many robot control problems of practical importance, including operational space control, can be reformulated as immediate reward reinforcement learning problems. However, few of the known optimization or reinforcement learning algorithms can be used in online learning control for robots, as they are either prohibitively slow, do not scale to interesting domains of complex robots, or require trying out policies generated by random search, which are infeasible for a physical system. Using a generalization of the EM-base reinforcement learning framework suggested by Dayan & Hinton, we reduce the problem of learning with immediate rewards to a reward-weighted regression problem with an adaptive, integrated reward transformation for faster convergence. The resulting algorithm is efficient, learns smoothly without dangerous jumps in solution space, and works well in applications of complex high degree-of-freedom robots.

EPrint Type:Conference or Workshop Item (Paper)
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Learning/Statistics & Optimisation
ID Code:3596
Deposited By:Jan Peters
Deposited On:13 February 2008