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Paper Abstract and Keywords
Presentation 2011-03-07 16:25
Fusing Learning Strategies to Learn Various Tasks with Single Configuration
Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara (NAIST) NC2010-154
Abstract (in Japanese) (See Japanese page) 
(in English) This paper proposes a method to fuse learning strategies (LSs) in reinforcement learning framework. Generally, we need to choose a suitable LS for each task respectively. In contrast, the proposed method automates this selection by fusing LSs. The LSs fused in this paper includes a transfer learning, a hierarchical RL, and a model based RL. The proposed method has a wide applicability. When the method is applied to a motion learning task, such as a crawling task, the performance of motion may be improved compared to an agent with a single LS. The method also can be applied to a navigation task by hierarchically combining already learned motions, such as a crawling and a turning. This paper demonstrates a maze task of a humanoid robot where the robot learns not only a path to goal, but also a crawling and a turning motions.
Keyword (in Japanese) (See Japanese page) 
(in English) Learning System / Reinforcement Learning / Modularization / Motion Learning / Humanoid Robot / / /  
Reference Info. IEICE Tech. Rep., vol. 110, no. 461, NC2010-154, pp. 159-164, March 2011.
Paper # NC2010-154 
Date of Issue 2011-02-28 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2010-154

Conference Information
Committee NC MBE  
Conference Date 2011-03-07 - 2011-03-09 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2011-03-NC-MBE 
Language English 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Fusing Learning Strategies to Learn Various Tasks with Single Configuration 
Sub Title (in English)  
Keyword(1) Learning System  
Keyword(2) Reinforcement Learning  
Keyword(3) Modularization  
Keyword(4) Motion Learning  
Keyword(5) Humanoid Robot  
1st Author's Name Akihiko Yamaguchi  
1st Author's Affiliation Nara Institute of Science and Technology (NAIST)
2nd Author's Name Jun Takamatsu  
2nd Author's Affiliation Nara Institute of Science and Technology (NAIST)
3rd Author's Name Tsukasa Ogasawara  
3rd Author's Affiliation Nara Institute of Science and Technology (NAIST)
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Speaker Author-1 
Date Time 2011-03-07 16:25:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2010-154 
Volume (vol) vol.110 
Number (no) no.461 
Page pp.159-164 
Date of Issue 2011-02-28 (NC) 

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