書誌事項
- タイトル別名
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- Performance Evaluation of Genetic Network Programming with Actor-Critic for Creating Mobile Robot Behavior
抄録
Genetic Network Programming (GNP) has been proposed as a new graph-based evolutionary algorithm. GNP represents its solutions as graph structures which contribute to improving the expression ability of the programs. GNP with Reinforcement Learning (GNP-RL) was also proposed as an extended algorithm of GNP and its effectiveness has been confirmed. Because GNP-RL executes reinforcement learning during task execution in addition to evolution after task execution, it can search for solutions efficiently. In this paper, GNP with Actor-Critic (GNP-AC) is proposed to enhance the effectiveness of GNP-RL. Actor-Critic can adjust numerical values appropriately during task execution, i. e., online learning, and use them for determining actions. To confirm the effectiveness of the proposed method, GNP-AC is applied to the controller of the Khepera simulator and its generalization ability is evaluated.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 44 (4), 343-350, 2008
公益社団法人 計測自動制御学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390001204502398080
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- NII論文ID
- 130003971769
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- ISSN
- 18838189
- 04534654
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可