Journal
NEURAL NETWORKS
Volume 41, Issue -, Pages 156-167Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.neunet.2012.11.007
Keywords
Reinforcement learning; Autonomous learning; Step-size estimation; Actor-critic
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This paper considers the issues of efficiency and autonomy that are required to make reinforcement learning suitable for real-life control tasks. A real-time reinforcement learning algorithm is presented that repeatedly adjusts the control policy with the use of previously collected samples, and autonomously estimates the appropriate step-sizes for the learning updates. The algorithm is based on the actor-critic with experience replay whose step-sizes are determined on-line by an enhanced fixed point algorithm for on-line neural network training. An experimental study with simulated octopus arm and half-cheetah demonstrates the feasibility of the proposed algorithm to solve difficult learning control problems in an autonomous way within reasonably short time. (c) 2012 Elsevier Ltd. All rights reserved.
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