Miusskaya st. 4, Moscow, 125047, Russia
Keldysh Institute of Applied Mathematics RAS
Koshmanova N. P., Pavlovsky V. E., Trifonov D. S.
Reinforcement learning for manipulator control
2012, Vol. 8, No. 4, pp. 689-704
We present method for constructing manipulator control system with reinforcement learning algorithm. We construct learning algorithm which uses information about performed actions and their quality with respect to desired behaviour called «reward». The goal of the learning algorithm is to construct control system maximizing total reward. Learning algorithm and constructed control system were tested on the manipulator collision avoidance problem.