دانلود مقاله انگلیسی رایگان:یادگیری تقویتی  برای حرکت چهار پا با طراحی برنامه درسی مداوم - سلسله مراتبی - 2020
دانلود بهترین مقالات isi همراه با ترجمه فارسی
دانلود مقاله انگلیسی یادگیری تقویتی رایگان
  • Reinforcement learning for quadrupedal locomotion with design of continual–hierarchical curriculum Reinforcement learning for quadrupedal locomotion with design of continual–hierarchical curriculum
    Reinforcement learning for quadrupedal locomotion with design of continual–hierarchical curriculum

    سال انتشار:

    2020


    عنوان انگلیسی مقاله:

    Reinforcement learning for quadrupedal locomotion with design of continual–hierarchical curriculum


    ترجمه فارسی عنوان مقاله:

    یادگیری تقویتی برای حرکت چهار پا با طراحی برنامه درسی مداوم - سلسله مراتبی


    منبع:

    Sciencedirect - Elsevier - Engineering Applications of Artificial Intelligence, 95 (2020) 103869. doi:10.1016/j.engappai.2020.103869


    نویسنده:

    Taisuke Kobayashi ∗, Toshiki Sugino


    چکیده انگلیسی:

    End-to-end reinforcement learning is a promising approach to enable robots to acquire complicated skills. However, this requires numerous samples to be implemented successfully. The issue is that it is often difficult to collect the sufficient number of samples. To accelerate learning in the field of robotics, knowledge gathered from robotics engineering and previously learned tasks must be fully exploited. Specifically, we propose using a sample-efficient curriculum to establish quadrupedal robot control in which the walking and turning tasks are divided into two hierarchical layers, and a robot learns them incrementally from lower to upper layers. To develop such a curriculum, two core components are designed. First the fractal design of neural networks in reservoir computing is aimed at allocating the tasks to be learned to respective modules in fractal networks. This allows mitigating the problem of catastrophic forgetting in neural networks and achieves the capability of continuous learning. The second task includes hierarchical task decomposition according to robotics knowledge for controlling legged robots. Owing to the combination of these two components, the proposed curriculum enables a robot to tune the lower layer even when the upper layer is optimized. As a result of implementing the proposed design, we confirm that a quadrupedal robot in a dynamical simulator succeeds in learning skills hierarchically according to the given curriculum, starting from moving legs and finally, walking/turning, unlike the considered conventional curriculums that are unable to achieve such results.
    Keywords: Continual learning | Curriculum learning | Hierarchical learning | Reservoir computing | Fractal network


    سطح: متوسط
    تعداد صفحات فایل pdf انگلیسی: 10
    حجم فایل: 1591 کیلوبایت

    قیمت: رایگان


    توضیحات اضافی:




اگر این مقاله را پسندیدید آن را در شبکه های اجتماعی به اشتراک بگذارید (برای به اشتراک گذاری بر روی ایکن های زیر کلیک کنید)

تعداد نظرات : 0

الزامی
الزامی
الزامی
rss مقالات ترجمه شده rss مقالات انگلیسی rss کتاب های انگلیسی rss مقالات آموزشی
logo-samandehi