Publications on Applications to Robotics

Reasonable performance in less learning time by real robot based on incremental state space segmentation
Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1518-1524, 1996. ( gzipped Postscript - 845 KB) Abstract:
Reinforcement learning has recently been receiving increased attention as a method for robot learni...

Behavior Coordination for a Mobile Robot Using Modular Reinforcement Learning
Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1329-1336, 1996 ( gzipped Postscript - 774 KB) Abstract:
Coordination of multiple behaviors independently obtained by a reinforcement learning method is on...

E-mail: asadi@cse.uta.edu
Effective Control Knowledge Transfer Through Learning Skill and Representation Hierarchies
International Joint Conference on Artificial Intelligence 2007 (pdf - 192 KB) Abstract:
Learning capabilities of computer systems still lag far behind biological systems. One of the reason...

E-mail: marcc@eia.udg.es
A Proposal of a Behavior-based Control Architecture with Reinforcement Learning for an Autonomous Underwater Robot
(pdf - 4 MB) Abstract:
The achievement of a mission with an autonomous robot in an unknown and unstructured environment is ...

Robot shaping: Developing autonomous agents through learning
Artificial Intelligence, 71:321-370, 1994 ( PDF - 605 KB) Abstract:
Learning plays a vital role in the development of situated agents. In this paper, we explore the u...

E-mail: ernst@montefiore.ulg.ac.be
Reinforcement learning with raw image pixels as state input
International Workshop on Intelligent Computing in Pattern Analysis/Synthesis (IWICPAS). Proceedings series: Lecture Notes in Computer Science, Volume 4153, page 446-454, August 2006 Abstract:
We report in this paper some positive simulation results obtained when image pixels are directly u...

Analysis and Design of Robot's Behavior: Towards a Methodology
Proceedings of the Sixth European Workshop on Learning Robots (EWLR6) ( PDF) Abstract:
We introduce a methodology to design reinforcement based control architectures for autonomous robot...

E-mail: ffernand@grial.uc3m.es
Vector Quantization Applied to Reinforcement Learning
Proceedings of the Fifth Workshop on RoboCup. Stockholm, Sweden. August, 1999. IJCAI'99 (Postscript - 202 KB) Abstract:
Reinforcement learning has proven to be a set of successful techniques for finding optimal policies ...

E-mail: ffernand@inf.uc3m.es
On Determinism Handling while Learning Reduced State Space Representations
European Conference on Artificial Intelligence (Postscript - ) Abstract:
When applying a Reinforcement Learning technique to problems with continuous or very large state spa...

Module-Based Reinforcement Learning for a Real Robot
Proceedings of the 6th European Workshop on Learning Robots, Lecture Notes in AI, to appear. 1998 ( gzipped Postscript - 755 KB) Abstract:
The behaviour of reinforcement learning (RL) algorithms is best understood in completely observable,...

Learning Robots to Move: Biological Control Concepts
Proc. of the 4th CLAWAR Conf. on Climbing and Walking Robots, Sept. 2001, Karlsruhe, Germany, Eds. K. Berns and R. Dillman, ISBN 1 86058 365 2, Professional Engineering Publishing Ltd, pp. 419-426. Abstract:
The basic functionality of mobile robots is to perform point-to-point movements. We are developing a...

E-mail: mel@guillaume-laurent.levillage.org
Parallel Q-Learning for a block-pushing problem
Conference proceedings (pdf - 679KB) Abstract:
Our approach is based on reinforcement learning algorithm (Q-Learning). We propose an original archi...

Robot Navigation using Discrete-Event Markov Decision Process Models
unpublished ( gzipped Postscript - 200 kb) Abstract: This paper describes a novel architecture for robot navigation based on semi-Markov decision proces...

Automatic Programming of Behavior-based Robots using Reinforcement Learning
Artificial Intelligence , vol. 55, Nos. 2-3, pp. 311-365, June, 1992 . (compressed Postscript - 100 KB) Abstract:
This paper describes a general approach for automatically programming a behavior-based robot. New ...

Combining Reinforcement Learning with a Local Control Algorithm
ICML-2000 ( gzipped Postscript - 134 kb) Abstract:
For reinforcement learning algorithms to find wider use as on-line methods for improving control p...

Supervised learning combined with an actor-critic architecture
Technical Report 02-41, Department of Computer Science, University of Massachusetts, Amherst, 2002 (PDF - 176 KB) Abstract:
To address the shortcomings of reinforcement learning (RL) a number of researchers have focused rec...

Reinforcement Learning Robots in Partially Observable Environments
Journal papers and conference papers (HTML - 100 KB) Abstract:
Robot learning in realistic environments requires novel algorithms for learning to identify importan...

Optimal Ordered Problem Solver
Machine Learning Journal 54, 211-254, 2004.; short version: NIPS 15, 1571-1578, 2003. (HTML - 200 KB) Abstract:
OOPS solves one task after another, through search for solution- computing programs. It is an increm...

E-mail: nils-NOSPAM@siebel-research.de
Learning neural networks for visual servoing using evolutionary methods
Proceedings of the 6th International Conference on Hybrid Intelligent Systems (HIS'06), Auckland, New Zealand (PDF - 168 KB) Abstract:
In this article we introduce a method to learn neural networks that solve a visual servoing task. O...

Learning neural networks for visual servoing using evolutionary methods
Proceedings of the 6th International Conference on Hybrid Intelligent Systems (HIS'06), Auckland, New Zealand (PDF - 168 KB) Abstract:
In this article we introduce a method to learn neural networks that solve a visual servoing task. O...

The Necessity of Average Rewards in Cooperative Multirobot Learning
ICRA 2002 (pdf - 176KB) Abstract:
Learning can be an effective way for robot systems to deal with dynamic environments and changing ta...

Neural Reinforcement Learning for Behaviour Synthesis
Robotics and Autonomous Systems, Special issue on Learning Robot: the New Wave, N. Sharkey Guest Editor, 1997. ( gzipped Postscript - 260 K) Abstract:
We present the results of a research aimed at improving the Q-learning method through the use of ar...

An Application of Reinforcement Learning to Dialogue Strategy Selection in a Spoken Dialogue System for Email
Journal of Artificial Intelligence Research, Vol 12., pp. 387-416, 2000. (Postscript - 340K) Abstract:
In the past several years, it has become possible to build spoken dialogue systems that can communi...