Developing reinforcement learning for adaptive co-construction of continuous high-dimensional state and action spaces

摘要

Engineers and researchers are paying more attention to reinforcement learning (RL) as a key technique for realizing adaptive and autonomous decentralized systems. In general, however, it is not easy to put RL into practical use. Our approach mainly deals with the problem of designing state and action spaces. Previously, an adaptive state space construction method which is called a "state space filter" and an adaptive action space construction method which is called "switching RL", have been proposed after the other space has been fixed. Then, we have reconstituted these two construction methods as one method by treating the former method and the latter method as a combined method for mimicking an infant's perceptual and motor developments and we have proposed a method which is based on introducing and referring to "entropy". In this paper, a computational experiment was conducted using a so-called "robot navigation problem" with three-dimensional continuous state space and two-dimensional continuous action space which is more complicated than a so-called "path planning problem". As a result, the validity of the proposed method has been confirmed.