2013 Fiscal Year Final Research Report
Behaviors Acquisition for Multiple Tasks by Integration of Imitation Learning and Reinforcement Learning
| Project/Area Number |
23560491
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
System engineering
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| Research Institution | Matsue National College of Technology |
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Principal Investigator |
HORIUCHI Tadashi 松江工業高等専門学校, 電子制御工学科, 准教授 (50294129)
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| Co-Investigator(Kenkyū-buntansha) |
KATO Satoru 松江工業高等専門学校, 情報工学科, 准教授 (40342547)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 知能ロボティクス / 模倣学習 / 強化学習 / 行動獲得 / 複数タスク |
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| Research Abstract |
In this research, we realized the effective acquisition of multiple behaviors for real robots by integration of imitation learning and reinforcement learning. First of all, we realized the behavior learning for single task such as 1) integration of imitation learning and behavior learning for the measuring worm robots and 2) integration of CPG and reinforcement learning for the four-legged robots. Moreover, we realized the behavior learning for multiple tasks such as 3) imitation learning of multiple behaviors for the two-armed gating robots and 4) effective acquisition of multiple behaviors by integration of CPG and reinforcement learning for the four-legged robots.
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