Studies in Computational Intelligence, volume 856, pages 62-70

Hierarchical actor-critic with hindsight for mobile robot with continuous state space

Publication typeBook Chapter
Publication date2019-09-04
Quartile SCImago
Q4
Quartile WOS
Impact factor
ISSN1860949X, 18609503
Abstract
Hierarchies are used in reinforcement learning to increase learning speed in sparse reward tasks. In this kind of tasks, the main problem is elapsed time, required for the initial policy to reach the goal during the first steps. Hierarchies can split a problem into a set of subproblems that could be reached in less time. In order to implement this idea, Hierarchical Reinforcement Learning (HRL) algorithms need to be able to learn the multiple levels within a hierarchy in parallel, so these smaller subproblems could be solved at the same time. Most famous existing HRL algorithms that can learn multi-level hierarchies are not able to efficiently learn levels of policies simultaneously, especially in continuous space and action space environment. To address this problem, we had analyzed the newest existing framework, Hierarchical Actor-Critic with Hindsight (HAC), test it in the simulated mobile robot environment and determine the optimal configuration of parameters and ways to encode information about the environment states.

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Staroverov A., Panov A. I. Hierarchical actor-critic with hindsight for mobile robot with continuous state space // Studies in Computational Intelligence. 2019. Vol. 856. pp. 62-70.
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Staroverov A., Panov A. I. Hierarchical actor-critic with hindsight for mobile robot with continuous state space // Studies in Computational Intelligence. 2019. Vol. 856. pp. 62-70.
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TY - GENERIC
DO - 10.1007/978-3-030-30425-6_6
UR - https://doi.org/10.1007%2F978-3-030-30425-6_6
TI - Hierarchical actor-critic with hindsight for mobile robot with continuous state space
T2 - Studies in Computational Intelligence
AU - Staroverov, Aleksey
AU - Panov, Aleksandr I
PY - 2019
DA - 2019/09/04 00:00:00
PB - Springer Nature
SP - 62-70
VL - 856
SN - 1860-949X
SN - 1860-9503
ER -
BibTex
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BibTex Copy
@incollection{2019_Staroverov
author = {Aleksey Staroverov and Aleksandr I Panov},
title = {Hierarchical actor-critic with hindsight for mobile robot with continuous state space},
publisher = {Springer Nature},
year = {2019},
volume = {856},
pages = {62--70},
month = {sep}
}
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