Trabajo presentado a la Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15) celebrada en Austin, Texas (US) del 25 al 30 de enero de 2015. ; Reinforcement learning (RL) is a common paradigm for learning tasks in robotics. However, a lot of exploration is usually required, making RL too slow for high-level tasks. We present V-MIN, an algorithm that integrates teacher demonstrations with RL to learn complex tasks faster. The algorithm combines active demonstration requests and autonomous exploration to find policies yielding rewards higher than a given threshold Vmin. This threshold sets the degree of quality with which the robot is expected to complete the task, thus allowing the user to either opt for very good policies that require many learning experiences, or to be more permissive with sub-optimal policies that are easier to learn. The threshold can also be increased online to force the system to improve its policies until the desired behavior is obtained. Furthermore, the algorithm generalizes previously learned knowledge, adapting well to changes. The performance of V-MIN has been validated through experimentation, including domains from the international planning competition. Our approach achieves the desired behavior where previous algorithms failed. ; This work is supported by CSIC project MANIPlus 201350E102 and by the Spanish Ministry of Science and Innovation under project PAU+ DPI2011-27510. D. Martínez is also supported by the Spanish Ministry of Education, Culture and Sport via a FPU doctoral grant (FPU12-04173). ; Peer Reviewed
V-MIN: Efficient reinforcement learning through demonstrations and relaxed reward demands
2015-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
V-MIN: efficient reinforcement learning through demonstrations and relaxed reward demands
BASE | 2015
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