Towards real learning robots:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Frankfurt am Main ; Berlin ; Bern ; Bruxelles ; New York ; Wien
Lang
2000
|
| Schriftenreihe: | [Europäische Hochschulschriften / 41]
33 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Zugl.: Kiel, Univ., Diss., 1999 |
| Beschreibung: | XII, 163 S. Ill., graph. Darst. |
| ISBN: | 3631359608 |
Internformat
MARC
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| 245 | 1 | 0 | |a Towards real learning robots |c Getachew Hailu |
| 264 | 1 | |a Frankfurt am Main ; Berlin ; Bern ; Bruxelles ; New York ; Wien |b Lang |c 2000 | |
| 300 | |a XII, 163 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a [Europäische Hochschulschriften / 41] |v 33 | |
| 500 | |a Zugl.: Kiel, Univ., Diss., 1999 | ||
| 650 | 4 | |a Intelligent control systems | |
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Datensatz im Suchindex
| _version_ | 1805068354199748608 |
|---|---|
| adam_text |
CONTENTS
ACKNOWLEDGMENTS
V
1
INTRODUCTION
1
1.1
THESIS
OVERVIEW
.
YY
.
.
.
.
1
1.2
THESIS
CONTRIBUTIONS
.
2
1.3
SENSOR
FUSION
.
4
FUSION
THROUGH
KALMAN
FILTERING
.
5
AN
EXAMPLE
.
7
1.4
LEARNING
VS.
WIRING
.
8
WHY
LEARNING?
.
8
WHAT
TO
LEARN?
.
9
WHAT
TO
LEARN
FROM?
.
9
1.5
LEARNING
IN
NEURAL
NETWORKS
.
10
HEURISTICS
.
10
NEURAL
NETWORKS
.
11
NETWORK
STRUCTURES
.
11
MODEL
ESTIMATION
.
15
1.6
LEARNING
TAXONOMY
.
16
REINFORCEMENT
LEARNING
.
16
1.7
THESIS
OUTLINE
.
19
2
MOBILE
ROBOT
SENSOR
PROCESSING
21
2.1
MOTIVATIONS
.
21
2.2
EXPERIMENTAL
PLATFORM
.
22
SENSOR
SUBSYSTEMS
.
22
SONARS
PLACEMENT
.
23
2.3
SENSOR
ABSTRACTION
.
25
VIII
CONTENTS
HASHING
.
26
2.4
SENSOR
FUSION
.
28
FILTERING
.
29
COMPUTATION
OF
;
.
32
ESTIMATION
BASED
ON
LIKELIHOOD
.
33
2.5
A
SIMPLE
EXPERIMENT
.
34
2.6
FUZZY
SYSTEMS
.
34
FUZZY
SETS
.
35
FUZZY
LOGIC
CONTROL
.
36
2.7
IMPLEMENTATION
DETAILS
.
40
RULE
BASE
.
41
DATA
BASE
.
41
INFERENCE
ENGINE
.
43
2.8
COMPUTATIONAL
ENVIRONMENT
.
44
2.9
EXPERIMENTS
.
45
SIMULATIONS
.
45
REAL
ROBOT
.
48
2.10
SUMMARY
.
50
3
REINFORCEMENT
LEARNING
53
3.1
MOTIVATIONS
.
53
3.2
LEARNING
MODELS
.
54
3.3
MODELS
OF
OPTIMALITY
.
56
FINITE-HORIZON
MODEL
.
56
INFINITE-HORIZON
MODEL
.
57
AVERAGE-REWARD
MODEL
.
57
AN
EXAMPLE
.
57
3.4
EVALUATING
LEARNING
PERFORMANCE
.
59
3.5
EXPLORATION
.
60
3.6
LEARNING
IN
DELAYED
REINFORCEMENTS
.
61
MARKOVIAN
PROCESSES
.
61
NOTES
ON
EXPECTED
REWARD
.
63
THE
LEARNING
TASK
.
63
MODEL
BASED
LEARNING
.
64
MODEL
FREE
LEARNING
.
66
3.7
LEARNING
BY
LEARNING
MODEL
.
71
CONTENTS
IX
DYNA
.
72
PRIORITIZED
SWEEPING
.
73
3.8
SUMMARY
.
74
4
PRIOR
KNOWLEDGE
IN
LEARNING
77
4.1
MOTIVATIONS
.
77
4.2
BIAS-VARIANCE
DILEMMA
.
78
ERROR
DECOMPOSITION
.
79
4.3
CLASSES
OF
BIASES
.
81
MODULARIZATION
.
82
ADVICE
.
83
REFLEX
.
86
DOMAIN-RICH
REWARD
.
87
4.4
THE
LEARNING
PROBLEM
.
88
THE
LABYRINTH
WORLD
.
89
4.5
BELIEF
MATRICES
.
90
4.6
BIAS
DESIGN
.
91
UNBIASED,
B
Q
.
91
ENVIRONMENT
BIAS,
BI
.
91
INSIGHT
BIAS,
B2
.
92
GOAL
BIAS,
B3
.
94
4.7
Q-LEARNING
.
95
CHOICE
OF
PARAMETERS
.
95
UPDATE
STEPS
.
96
4.8
SOFTMAX
ACTION
SELECTION
.
96
4.9
EXPERIMENTAL
RESULTS
.
97
ANALYSIS
.
99
4.10
CONTINUAL
LEARNING
.
100
4.11
SUMMARY
.
102
5
LEARNING
A
MINIMUM
COST
PATH
105
5.1
MOTIVATIONS
.
105
5.2
THE
MINIMUM
COST
PATH
PROBLEM
.
106
5.3
EXPERIMENTAL
SET-UP
.
107
THE
PHYSICAL
ROBOT
.
107
THE
ROBOT
ENVIRONMENT
.
108
X
CONTENTS
5.4
INPUTS
AND
OUTPUTS
.
110
5.5
REINFORCEMENT
FUNCTIONS
.
112
INCONSISTENT
REINFORCEMENTS
.
114
5.6
BUILT-IN
KNOWLEDGE
.
114
FEATURE
EXTRACTION-AN
IMPORTANT
SUBPROBLEM
.
115
ENVIRONMENT
MODEL
.
116
FUZZY
BEHAVIORS
AS
REFLEX
.
119
EVALUATING
THE
REFLEX
.
121
5.7
CURSE
OF
DIMENSIONALITY
.
121
FUNCTION
APPROXIMATORS
.
122
5.8
LOCALIZED
AHC
ARCHITECTURE
.
124
REAL
VALUED
STOCHASTIC
EXPLORATION
.
125
ANNEALING
.127
5.9
ADAPTATIONS
.127
UTILITY
UPDATE
.
128
MEAN
UPDATE
.
130
CENTER
UPDATE
.
131
BACK
TRACKING
.
131
5.10
LEARNING
DETAILS
.
132
5.11
LEARNING
EXPERIMENTS
.
135
SIMULATION
EXPERIMENTS
.
135
REAL
EXPERIMENTS
.
140
5.12
RELATED
WORK
.
143
5.13
SUMMARY
.
145
6
CONCLUSIONS
147
6.1
DISCUSSION
AND
OUTLOOK
.147
6.2
CLOSING
THOUGHTS
.
151
BIBLIOGRAPHY
153 |
| any_adam_object | 1 |
| author | Hailu, Getachew 1966- |
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| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211.35. |
| callnumber-search | TJ211.35. |
| callnumber-sort | TJ 3211.35 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ST 285 ST 308 ZQ 6250 |
| ctrlnum | (OCoLC)43076804 (DE-599)BVBBV012884902 |
| dewey-full | 629.8/9263 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
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| dewey-search | 629.8/9263 |
| dewey-sort | 3629.8 49263 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV012884902 |
| illustrated | Illustrated |
| indexdate | 2024-07-20T03:48:47Z |
| institution | BVB |
| isbn | 3631359608 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-008771103 |
| oclc_num | 43076804 |
| open_access_boolean | |
| owner | DE-384 |
| owner_facet | DE-384 |
| physical | XII, 163 S. Ill., graph. Darst. |
| publishDate | 2000 |
| publishDateSearch | 2000 |
| publishDateSort | 2000 |
| publisher | Lang |
| record_format | marc |
| series2 | [Europäische Hochschulschriften / 41] |
| spelling | Hailu, Getachew 1966- Verfasser (DE-588)121498859 aut Towards real learning robots Getachew Hailu Frankfurt am Main ; Berlin ; Bern ; Bruxelles ; New York ; Wien Lang 2000 XII, 163 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier [Europäische Hochschulschriften / 41] 33 Zugl.: Kiel, Univ., Diss., 1999 Intelligent control systems Robots Control systems Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Maschinelles Lernen (DE-588)4193754-5 gnd rswk-swf Roboter (DE-588)4050208-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Roboter (DE-588)4050208-9 s Maschinelles Lernen (DE-588)4193754-5 s DE-604 Autonomer Roboter (DE-588)4304075-5 s 1\p DE-604 41] [Europäische Hochschulschriften 33 (DE-604)BV000022432 33 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008771103&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Hailu, Getachew 1966- Towards real learning robots Intelligent control systems Robots Control systems Autonomer Roboter (DE-588)4304075-5 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Roboter (DE-588)4050208-9 gnd |
| subject_GND | (DE-588)4304075-5 (DE-588)4193754-5 (DE-588)4050208-9 (DE-588)4113937-9 |
| title | Towards real learning robots |
| title_auth | Towards real learning robots |
| title_exact_search | Towards real learning robots |
| title_full | Towards real learning robots Getachew Hailu |
| title_fullStr | Towards real learning robots Getachew Hailu |
| title_full_unstemmed | Towards real learning robots Getachew Hailu |
| title_short | Towards real learning robots |
| title_sort | towards real learning robots |
| topic | Intelligent control systems Robots Control systems Autonomer Roboter (DE-588)4304075-5 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Roboter (DE-588)4050208-9 gnd |
| topic_facet | Intelligent control systems Robots Control systems Autonomer Roboter Maschinelles Lernen Roboter Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008771103&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000022432 |
| work_keys_str_mv | AT hailugetachew towardsreallearningrobots |