A Hybrid Architecture for Learning Robot Control Tasks

  title={A Hybrid Architecture for Learning Robot Control Tasks},
  author={Manfred and Huber and Roderic and A.. and Grupen},
  • Manfred, Huber, +2 authors Grupen
  • Published 2002
Autonomous robot systems operating in an uncertain environment have to be reactive and adaptive in order to cope with changing environment conditions and task requirements. To achieve this, the control architecture presented in this paper uses reinforcement learning on top of an abstract Discrete Event Dynamic System (DEDS) supervisor to learn to coordinate a set of continuous controllers in order to perform a given task. In addition to providing a base reactivity through the underlying stable… CONTINUE READING