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.
Type de document :
Communication dans un congrès
GECCO 2011, 2011, Dublin, Ireland. pp.1235-1242, 2011
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http://hal.upmc.fr/hal-00703760
Contributeur : Didier Marin <>
Soumis le : lundi 4 juin 2012 - 12:22:48
Dernière modification le : jeudi 20 juillet 2017 - 09:26:55

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  • HAL Id : hal-00703760, version 1

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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, 2011. <hal-00703760>

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