Leslie Ikemoto, Okan Arikan and David A. Forsyth
EECS Department
University of California, Berkeley
Technical Report No. UCB/CSD-05-1395
June 2005
http://www2.eecs.berkeley.edu/Pubs/TechRpts/2005/CSD-05-1395.pdf
This paper describes a framework for controlling autonomous agents. We estimate an optimal controller using a novel reinforcement learning method based on stochastic optimization. The agent's skeletal configurations are taken from a motion graph which contains seamless transitions, guaranteeing smooth, natural-looking motion. The controller learns a parametric value function for choosing transitions at the branch points in the motion graph. Since this query can be completed quickly, synthesis is performed online in real-time. We couple the local controller with a global path planner to create a system which produces realistic motion even in a rapidly changing environment.
BibTeX citation:
@techreport{Ikemoto:CSD-05-1395, Author = {Ikemoto, Leslie and Arikan, Okan and Forsyth, David A.}, Title = {Learning to Move Autonomously in a Hostile World}, Institution = {EECS Department, University of California, Berkeley}, Year = {2005}, Month = {Jun}, URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2005/5542.html}, Number = {UCB/CSD-05-1395}, Abstract = {This paper describes a framework for controlling autonomous agents. We estimate an optimal controller using a novel reinforcement learning method based on stochastic optimization. The agent's skeletal configurations are taken from a motion graph which contains seamless transitions, guaranteeing smooth, natural-looking motion. The controller learns a parametric value function for choosing transitions at the branch points in the motion graph. Since this query can be completed quickly, synthesis is performed online in real-time. We couple the local controller with a global path planner to create a system which produces realistic motion even in a rapidly changing environment.} }
EndNote citation:
%0 Report %A Ikemoto, Leslie %A Arikan, Okan %A Forsyth, David A. %T Learning to Move Autonomously in a Hostile World %I EECS Department, University of California, Berkeley %D 2005 %@ UCB/CSD-05-1395 %U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2005/5542.html %F Ikemoto:CSD-05-1395