Algorithmic Foundations of Robotics VI by Bruce Randall Donald (auth.), Michael Erdmann, Mark

By Bruce Randall Donald (auth.), Michael Erdmann, Mark Overmars, David Hsu, Frank van der Stappen (eds.)

Robot algorithms are abstractions of computational strategies that regulate or cause approximately movement and notion within the actual global. simply because activities within the actual global are topic to actual legislation and geometric constraints, the layout and research of robotic algorithms increases a different mixture of questions up to speed idea, computational and differential geometry, and desktop technological know-how. Algorithms function a unifying topic within the multi-disciplinary box of robotics.

This quantity includes chosen contributions to the 6th Workshop at the Algorithmic Foundations of Robotics. this can be a hugely aggressive assembly of specialists within the box of algorithmic matters with regards to robotics and automation.

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From a simple reward structure the agent should be able to figure out the policy its designer had in mind. Simple rewards soon prove to be inefficient. Take as an example a simple ’go to ball’ behaviour. The simplest reward structure is a reward for getting to the ball and a penalty for every time step. This reward structure soon proved to be inefficient as an effect of a reward at the end of the entire training episode is propagated back in time only for a certain amount of steps according to the eligibility trace, meaning that the agent cannot ’feel’ the goal when he is more than the eligibility trace length (in time) away from it.

To examine the effect of surface Gaussian curvature K on the geodesic curvature κg of the offset curves, we apply the Gauss-Bonnet theorem to the region B bounded between the start curve, Cst , and its offset curve, Cof , (see Fig. 3(a)) and arrive at    κg . (1) K+ κg = Cof B Cst Equation 1 tells us that the more the surface bounded between the offset curve and the geodesic start curve bends, the more the geodesic curvature of the offset curve increases. On a surface where the sign of the Gaussian curvature stays the same, the further away we place the offset curve from the start curve, the higher the geodesic curvature of the offset curve is.

In high dimensional spaces the agent is very likely to land in local minima. Different policies tend to interfere with each other. With Q-learning in particular, extra inputs which are un- or weakly correlated to the rewards and therefore irrelevant, make the system perform less. This is inherent to the algorithm, as only the positive part of the ’noise’ is propagated forward, biasing the system. High dimensionality along with the inability to reject irrelevant data and poor generalization, results in poor performances.

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