Reinforcement Learning Algorithms for CPS: The Open-Source TEXPLORE Code Release for Reinforcement Learning on Robots

Abstract:

The use of robots in society could be expanded by using reinforcement learning (RL) to allow robots to learn and adapt to new situations on-line. RL is a paradigm for learning sequential decision making tasks, usually formulated as a Markov Decision Process (MDP). For an RL algorithm to be practical for robotic control tasks, it must learn in very few samples, while continually taking actions in real-time. In addition, the algorithm must learn efficiently in the face of noise, sensor/actuator delays, and continuous state features.