Publication

Hanyang University HumanRobotics Lab

International Conference
A novel dynamic priority-based action-selection-mechanism integrating a reinforcement learning
Conference
IEEE International Conference on Robotics and Automation
Author
I. H. Suh, M. J. Kim, S. Lee, and B. J. Yi
Year
2004
Date
2004.04.26
File
[2004]A Novel Dynamic Priority-Based Action-Selection-Mechanism Integrating a Reinforcement Learning.pdf (689.5K) 0회 다운로드 DATE : 2020-10-17 21:11:10
A novel action-selection-mechanism is proposed to deal with sequential behaviors, where associations between some of stimulus and behaviors would be learned by a shortest-path-finding-based reinforcement learning technique. To be specific, we define behavioral motivation as a primitive node for action selection, and then sequentially construct a network with behavioral motivations. The vertical path of the network represents a behavioral sequence. Here, such a tree for our proposed ASM can be newly generated and/or updated, whenever a new sequential behaviors is learned. To show the validity of our proposed ASM, some experimental results on a "pushing-box-into-a-goal (PBIG) task" of a mobile robot is illustrated.