Unsupervised cross-domain transfer in policy gradient reinforcement learning via manifold alignment

Proceedings of the National Conference on Artificial Intelligence

Volumn 4, Issue , 2015, Pages 2504-2510

  Ammar, Haitham Bou ^a   Eaton, Eric ^a   Ruvolo, Paul ^b   Taylor, Matthew E ^c  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

^b FRANKLIN W OLIN COLLEGE OF ENGINEERING   (United States)

^c WASHINGTON STATE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ARTIFICIAL INTELLIGENCE; DYNAMICAL SYSTEMS; KNOWLEDGE MANAGEMENT; MAPPING;

BACK-GROUND KNOWLEDGE; EXPONENTIAL NUMBERS; KNOWLEDGE TRANSFER; MANIFOLD ALIGNMENTS; POLICY GRADIENT; POLICY GRADIENT REINFORCEMENT LEARNING; QUADROTOR CONTROLS; TRANSFER LEARNING METHODS;

REINFORCEMENT LEARNING;

EID: 84960193691     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (22)

1. Argali, B. D.; Chernova, S.; Veloso, M.; and Browning, B. 2009. A survey of robot learning from demonstration. Robotics and Autonomous Systems 57(5):469-483.
2. Banerjee, B., and Stone, P. 2007. General game learning using knowledge transfer. In Proceedings of the 20th International Joint Conference on Artificial Intelligence, 672-677.
3. Bemporad, A.; Morari, M.; Dua, V.; and Pistikopoulos, E. 2002. The explicit linear quadratic regulator for constrained systems. Automático 38(1):3-20.
4. Bocsi, B.; Csato, L.; and Peters, J. 2013. Alignment-based transfer learning for robot models. In Proceedings of the International Joint Conference on Neural Networks (IJCNN).
5. Bou Ammar, H.; Taylor, M.; Tuyls, K.; Driessens, K.; and Weiss, G. 2012. Reinforcement learning transfer via sparse coding. In Proceedings of the 1 Ith Conference on Autonomous Agents and Multiagent Systems (AAMAS).
6. Bouabdallah, S. 2007. Design and Control of Quadrotors with Application to Autonomous Flying. Ph. D. Dissertation, École polytechnique fédérale de Lausanne.
7. Buçoniu, L.; Babuska, R.; De Schütter, B.; and Ernst, D. 2010. Reinforcement Learning and Dynamic Programming Using Function Approximators. Boca Raton, Florida: CRC Press.
8. Goldberg, Y.; and Ritov, Y. 2009. Local Procrustes for manifold embedding: a measure of embedding quality and embedding algorithms. Machine Learning 77(1):1-25.
9. Kober, J.; Bagnell, A.; and Peters, J. 2013. Reinforcement learning in robotics: a survey. International Journal of Robotics Research 32(11):1238-1274.
10. Konidaris, G., and Barto, A. 2007. Building portable options: Skill transfer in reinforcement learning. In Proceedings of the 20th International Joint Conference on Artificial Intelligence, 895-900.
11. Liu, Y., and Stone, P. 2006. Value-function-based transfer for reinforcement learning using structure mapping. In Proceedings of the 21st National Conference on Artificial Intelligence, 415-20.
12. Peters, J., and Schaal, S. 2006. Policy gradient methods for robotics. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2219-2225.
13. Peters, J., and Schaal, S. 2008. Natural actor-critic. Neurocomputing 71(7-9):1180-1190.
14. Peters, J.; Vijayakumar, S.; and Schaal, S. 2005. Natural actor-critic. In Proceedings of the 16th European Conference on Machine Learning (ECML), 280-291. Springer.
15. Sutton, R. S.; McAllester, D. A.; Singh, S. P.; and Mansour, Y. 1999. Policy gradient methods for reinforcement learning with function approximation. Neural Information Processing Systems 1057-1063.
16. Taylor, M. E., and Stone, P. 2009. Transfer learning for reinforcement learning domains: a survey. Journal of Machine Learning Research 10:1633-1685.
17. Taylor, M. E.; Kuhlmann, G.; and Stone, P. 2008. Autonomous transfer for reinforcement learning. In Proceedings of the 7th International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 283-290.
18. Taylor, M. E.; Stone, P.; and Liu, Y. 2007. Transfer learning via inter-task mappings for temporal difference learning. Journal of Machine Learning Research 8(1):2125-2167.
19. Taylor, M. E.; Whiteson, S.; and Stone, P. 2007. Transfer via inter-task mappings in policy search reinforcement learning. In Proceedings of the 6th International Joint Conference on Autonomous Agents and Multiagent Systems.
20. Torrey, L.; Shavlik, J.; Walker, T.; and Maclin, R. 2008. Relational macros for transfer in reinforcement learning. In Blockeel, H.; Ramon, J.; Shavlik, J.; and Tadepalli, P., eds., Inductive Logic Programming, volume 4894 of Lecture Notes in Computer Science. Springer Berlin Heidelberg. 254-268.
21. Voos, H., and Bou Ammar, H. 2010. Nonlinear tracking and landing controller for quadrotor aerial robots. In Proceedings of the IEEE International Conference on Control Applications (CCA), 2136-2141.
22. Wang, C., and Mahadevan, S. 2009. Manifold alignment without correspondence. In Proceedings of the 21st International Joint Conference on Artificial Intelligence (IJCAI), 1273-1278. Morgan Kaufmann.