書誌事項
- タイトル別名
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- Learning Transferable Policy in Reinforcement Learning for Vehicle Velocity Tracking Control
- シャソク ツイジュウ セイギョ ノ タメ ノ キョウカ ガクシュウ ニ オケル テンイ カノウ ナ ホウサク ノ ガクシュウ シュホウ
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<p>We propose the control system for driving robot using Hierarchical Reinforcement Learning. Driving Robots are playing an active role in test driving for evaluating fuel consumption and exhaust gas of automobiles. We can consider Reinforcement Learning as one of the control methods for driving robot. The control system using Reinforcement Learning has the advantage that there is no need to adjust parameters manually. However, Reinforcement Learning suffer from poor sample efficiency because it requires a lot of trials. In this research, we propose the control system for driving robot using the algorithm for learning hierarchical policy. Moreover, we introduce State Abstraction in Hierarchical Reinforcement Learning. By using abstract state, each low-level policy specialize in distinct behavior. The advantage of this method is that we can improve the sample efficiency by transferring low-level policies learned using multiple vehicles. The experimental result shows that the proposed method improve the sample efficiency in vehicle velocity tracking task.</p>
収録刊行物
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- 電気学会論文誌C(電子・情報・システム部門誌)
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電気学会論文誌C(電子・情報・システム部門誌) 141 (12), 1492-1499, 2021-12-01
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390571713984059264
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- NII論文ID
- 130008123455
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 031857218
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可