Data-driven Construction of Symbolic Process Models for Reinforcement Learning

Created by W.Langdon from gp-bibliography.bib Revision:1.8051

@InProceedings{Derner:2018:ICRA,

• author = "Erik Derner and Jiri Kubalik and Robert Babuska",
• booktitle = "2018 IEEE International Conference on Robotics and Automation (ICRA)",
• title = "Data-driven Construction of Symbolic Process Models for Reinforcement Learning",
• year = "2018",
• abstract = "Reinforcement learning (RL) is a suitable approach for controlling systems with unknown or time-varying dynamics. RL in principle does not require a model of the system, but before it learns an acceptable policy, it needs many unsuccessful trials, which real robots usually cannot withstand. It is well known that RL can be sped up and made safer by using models learned online. In this paper, we propose to use symbolic regression to construct compact, parsimonious models described by analytic equations, which are suitable for real-time robot control. Single node genetic programming (SNGP) is employed as a tool to automatically search for equations fitting the available data. We demonstrate the approach on two benchmark examples: a simulated mobile robot and the pendulum swing-up problem; the latter both in simulations and real-time experiments. The results show that through this approach we can find accurate models even for small batches of training data. Based on the symbolic model found, RL can control the system well.",
• keywords = "genetic algorithms, genetic programming",
• DOI = "doi:10.1109/ICRA.2018.8461182",
• ISSN = "2577-087X",
• month = may,
• notes = "Also known as \cite{8461182}",

}

Genetic Programming entries for Erik Derner Jiri Kubalik Robert Babuska

Citations