图 书 馆
分层POMDP控制器优化的可能性最大化Hierarchical POMDP Controller Optimization by Likelihood Maximization |
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| 课程网址: | http://videolectures.net/uai08_toussaint_hpco/ |
| 主讲教师: | Marc Toussaint |
| 开课单位: | 柏林工业大学 |
| 开课时间: | 2008-07-30 |
| 课程语种: | 英语 |
| 中文简介: |  |
| 课程简介: | Planning can often be simplified by decomposing the task into smaller tasks arranged hierarchically. Charlin et al. recently showed that the hierarchy discovery problem can be framed as a non-convex optimization problem. However, the inherent computational difficulty of solving such an optimization problem makes it hard to scale to real world problems. In another line of research, Toussaint et al. developed a method to solve planning problems by maximum likelihood estimation. In this paper, we show how the hierarchy discovery problem in partially observable domains can be tackled using a similar maximum likelihood approach. Our technique first transforms the problem into a dynamic Bayesian network through which a hierarchical structure can naturally be discovered while optimizing the policy. Experimental results demonstrate that this approach scales better than previous techniques based on non-convex optimization. |
| 关 键 词: | 非凸优化问题; 最大似然估计; 动态贝叶斯网络 |
| 课程来源: | 视频讲座网 |
| 最后编审: | 2020-06-06：张荧(课程编辑志愿者) |
| 阅读次数: | 48 |