An experience-based policy gradient method for smooth manipulation

被引：0

作者：

Wang, Yongchao ^{[1
]}

Lan, Xuguang ^{[1
]}

Feng, Chuzhen ^{[1
]}

Wan, Lipeng ^{[1
]}

Li, Jin ^{[1
]}

Liu, Yuwang ^{[1
]}

Li, Decai ^{[1
]}

机构：

[1] Xi An Jiao Tong Univ, Inst Artificial Intelligence & Robot, Xian, Shaanxi, Peoples R China

来源：

2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年

关键词：

Policy Gradient; Robot Manipulation; Deep Reinforcement Learning;

D O I：

10.1109/cyber46603.2019.9066580

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Policy gradient methods have achieved remarkable success in continuous controlling tasks. However, in robotic control, original policy gradient algorithms depend on the first succeed experience which is usually a suboptimal solution. To improve the performance, we propose an experience-based policy gradient method(EBDDPG) which guides the robot to move in a smooth way. Besides, extra OU-noise is added to the action space to improve exploration. We tested our algorithm on Gazebo simulation environment with Baxter robot. The experimental results show our method guides the robot to manipulate more smoothly and improves success rate of grasping tasks.

引用

页码：93 / 97

页数：5

共 50 条

[41] Experience-based parallel graph Coloring
Croitoru, C.
Negara, G.
5TH ROEDUNET IEEE INTERNATIONAL CONFERENCE, PROCEEDINGS, 2006, : 150 - 155
[42] EXPERIENCE-BASED KNOWLEDGE REPRESENTATION: SOEKS
Sanin, Cesar
Szczerbicki, Edward
CYBERNETICS AND SYSTEMS, 2009, 40 (02) : 99 - 122
[43] CONCEPTUAL OR EXPERIENCE-BASED LEARNING OF TEACHERS
TILLEMA, HH
DEJONG, R
MATHIJSSEN, C
TEACHING AND TEACHER EDUCATION, 1990, 6 (02) : 165 - 172
[44] The Research and Practice of Experience-based Teaching
Zhu Haihua
Guo Chaoyong
Li Baofeng
Ma Sumin
2011 INTERNATIONAL CONFERENCE ON FUTURE COMPUTERS IN EDUCATION (ICFCE 2011), VOL III, 2011, : 118 - 121
[45] Using the experience-based co-design method to design a teaching package
Darbyshire, Julie L.
Hinton, Lisa
Young, J. Duncan
Greig, Paul R.
MEDICAL EDUCATION, 2018, 52 (11) : 1198 - 1198
[46] Coaching mit experience-based learning ModulenRahmenmodell und PraxisbeispieleCoaching with experience-based learning modulesFramework model and practical examples
Thomas Haimerl
Markus Eschbach
Michaela Hanke
Organisationsberatung, Supervision, Coaching, 2015, 22 (1) : 61 - 71
[47] Experience-based systematic construction hazard warning
Wang, Mohan
Liao, Pin-Chao
ENGINEERING CONSTRUCTION AND ARCHITECTURAL MANAGEMENT, 2024, 31 (01) : 469 - 486
[48] A fuzzy logic approach to experience-based reasoning
Sun, Zhaohao
Finnie, Gavin
INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS, 2007, 22 (08) : 867 - 889
[49] Experience-Based Routing in Call Center Environments
Robbins, Thomas R.
SERVICE SCIENCE, 2015, 7 (02) : 132 - 148
[50] From Experience to Metaphysics: On Experience-based Intuitions and their Role in Metaphysics
Benovsky, Jiri
NOUS, 2015, 49 (04): : 684 - 697

← 1 2 3 4 5 →