图 书 馆
学习障碍地形的动态移动技能Learning Dynamic Locomotion Skills for Terrains with Obstacles |
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| 课程网址: | http://videolectures.net/rldm2015_van_de_panne_obstacles/ |
| 主讲教师: | Michiel van de Panne |
| 开课单位: | 不列颠哥伦比亚大学 |
| 开课时间: | 2015-07-28 |
| 课程语种: | 英语 |
| 中文简介: |  |
| 课程简介: | Using reinforcement learning to develop motor skills for articulated figures is challenging because of state spaces and action spaces that are high dimensional and continuous. In this work, we learn control policies for dynamic gaits across terrains having sequences of gaps, walls, and steps. Results are demonstrated using physics-based simulations of a 21 link planar dog and a 7-link planar biped. Our approach is characterized by a number of features, including: non-parametric representation of the value function and the control policy; value iteration using batched positive-TD updates; localized epsilon-greedy exploration; and an action parameterization that is tailored for the problem domain. In support of the nonparametric representation, we further optimize for a task-specific distance metric. The policies are computed offline using repeated iterations of epsilon-greedy exploration and value iteration. The final control policies then run in real time over novel terrains. We evaluate the impact of the key features of our skill learning pipeline on the resulting performance. |
| 关 键 词: | 动态步态; 技能学习渠道; 状态空间 |
| 课程来源: | 视频讲座网 |
| 数据采集: | 2021-12-03：zkj |
| 最后编审: | 2021-12-03：zkj |
| 阅读次数: | 66 |