Paper Abstract and Keywords |
Presentation |
2013-01-24 10:30
Control of the falling cat motion by using path-integral reinforcement learning Daichi Nakano, Shin-ichi Maeda, Shin Ishii (Kyoto Univ) NLP2012-107 NC2012-97 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
The falling-cat motion is a motion for controlling the cat's posture under no existence of external force. To obtain a controller that emits such a motion is of practice, because of its applicability to controlling problems of various systems including space robots. It is not an easy task, however, because the cat's posture control is a nonholonomic system to which general state feedback control is hard to be applied. In this study, we propose an approach to use path integral reinforcement learning for identifying a control policy that is dependent on time but independent of system state. We will show that the proposed method can acquire such a control policy that achieves a goal state (a goal posture) of a dynamical system which models the cat's posture control, in an efficient manner. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Nonholonomic system / falling-cat motion / path integral reinforcement learning / / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 112, no. 390, NC2012-97, pp. 19-24, Jan. 2013. |
Paper # |
NC2012-97 |
Date of Issue |
2013-01-17 (NLP, NC) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
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) |
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NLP2012-107 NC2012-97 |
Conference Information |
Committee |
NC NLP |
Conference Date |
2013-01-24 - 2013-01-25 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Hokkaido University Centennial Memory Hall |
Topics (in Japanese) |
(See Japanese page) |
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Paper Information |
Registration To |
NC |
Conference Code |
2013-01-NC-NLP |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Control of the falling cat motion by using path-integral reinforcement learning |
Sub Title (in English) |
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Nonholonomic system |
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falling-cat motion |
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path integral reinforcement learning |
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1st Author's Name |
Daichi Nakano |
1st Author's Affiliation |
Kyoto University (Kyoto Univ) |
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Shin-ichi Maeda |
2nd Author's Affiliation |
Kyoto University (Kyoto Univ) |
3rd Author's Name |
Shin Ishii |
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Kyoto University (Kyoto Univ) |
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Speaker |
Author-1 |
Date Time |
2013-01-24 10:30:00 |
Presentation Time |
20 minutes |
Registration for |
NC |
Paper # |
NLP2012-107, NC2012-97 |
Volume (vol) |
vol.112 |
Number (no) |
no.389(NLP), no.390(NC) |
Page |
pp.19-24 |
#Pages |
6 |
Date of Issue |
2013-01-17 (NLP, NC) |
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