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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
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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)
Download PDF 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) 
Topics (in English)  
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)  
Keyword(1) Nonholonomic system  
Keyword(2) falling-cat motion  
Keyword(3) path integral reinforcement learning  
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1st Author's Name Daichi Nakano  
1st Author's Affiliation Kyoto University (Kyoto Univ)
2nd Author's Name Shin-ichi Maeda  
2nd Author's Affiliation Kyoto University (Kyoto Univ)
3rd Author's Name Shin Ishii  
3rd Author's Affiliation 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
Date of Issue 2013-01-17 (NLP, NC) 


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