Learning to Drive a Bicycle Using Reinforcement Learning and Shaping

@inproceedings{Randlv1998LearningTD,
  title={Learning to Drive a Bicycle Using Reinforcement Learning and Shaping},
  author={Jette Randl\ov and Preben Alstr\om},
  booktitle={ICML},
  year={1998}
}
We present and solve a real-world problem of learning to drive a bicycle. We solve the problem by online reinforcement learning using the Sarsa( )-algorithm. Then we solve the composite problem of learning to balance a bicycle and then drive to a goal. In our approach the reinforcement function is independent of the task the agent tries to learn to solve. 
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