Robot Learning Using Genetic Algorithms

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23 Οκτ 2013 (πριν από 3 χρόνια και 9 μήνες)

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Robot Learning
Using Genetic
Algorithms

Diane Cessna

1/22/07

Robot Learning 101


Robots can be taught many different types of
behaviors


Concepts



motor skills



how to use their own sensors



how to gather information



navigate



express emotion



how to teach themselves

Robot Learning 101


Choosing a learning technique is often
very difficult


Ex:


Industrial Robot


Mobile Office Assistant

Robot Learning 101


What should be learned?


When should learning occur?


How is learning implemented?


How much knowledge should be hard
-
coded?

How is Learning
Implemented?


Artificial Neural Networks


Reinforcement Learning


Learning by Imitation


Evolutionary Learning

Evolutionary Learning


Includes many evolutionary techniques


Genetic Algorithms


Evolutionary Strategies


Genetic Programming


And more…

Evolutionary Learning


Has been successful in learning tasks such
as:


Navigation


Maze Learning


Pursuit
-
Evasion Routines


Box Pushing


Herding


Reaching and Grasping


Evolutionary Learning via
Genetic Algorithms


GAs are used to evolve the rule sets that
determine behavior


Rule:


“IF situation=danger AND mission = critical THEN
perform high
-
risk maneuver.”


“IF 1111 AND 0011 THEN 0000 1010” or simply
1111001100001010




Multi
-
Robot Learning Using
GAs


PEGA


Motor responses to stimuli are encoded as genetic
strings and stored on individual robots


Then they are adapted by a GA that is executed
by the robot


Robots communicate their own strings and
corresponding fitness to each other


Then execute a GA to improve their individual
behavior strategy


Multi
-
Robot Learning Using
GAs


Can be helpful in scenarios that use
robots for:


Cleaning


Surveillance


Exploring

Questions?