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Conference Papers Year : 2011

Learning Cost-Efficient Control Policies with XCSF: Generalization Capabilities and Further Improvement

Abstract

In this paper we present a method based on the "learning from demonstration" paradigm to get a cost-efficient control policy in a continuous state and action space. The controlled plant is a two degrees-of-freedom planar arm actuated by six muscles. We learn a parametric control policy with xcsf from a few near-optimal trajectories, and we study its capability to generalize over the whole reachable space. Furthermore, we show that an additional Cross-Entropy Policy Search method can improve the global performance of the parametric controller.
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Dates and versions

hal-00703760 , version 1 (04-06-2012)

Identifiers

  • HAL Id : hal-00703760 , version 1

Cite

Didier Marin, Jérémie Decock, Lionel Rigoux, Olivier Sigaud. Learning Cost-Efficient Control Policies with XCSF: Generalization Capabilities and Further Improvement. GECCO 2011, 2011, Dublin, Ireland. pp.1235-1242. ⟨hal-00703760⟩
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