Leslie Ikemoto and Okan Arikan and David A. Forsyth

EECS Department, University of California, Berkeley

Technical Report No. UCB/CSD-05-1395

, 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.

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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},
    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