http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : 하파엘 (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
백스터 로봇의 시각기반 로봇 팔 조작 딥러닝을 위한 강화학습 알고리즘 구현
김성운,김솔아,하파엘 리마,최재식 한국로봇학회 2019 로봇학회 논문지 Vol.14 No.1
Reinforcement learning has been applied to various problems in robotics. However, it was still hard to train complex robotic manipulation tasks since there is a few models which can be applicable to general tasks. Such general models require a lot of training episodes. In these reasons, deep neural networks which have shown to be good function approximators have not been actively used for robot manipulation task. Recently, some of these challenges are solved by a set of methods, such as Guided Policy Search, which guide or limit search directions while training of a deep neural network based policy model. These frameworks are already applied to a humanoid robot, PR2. However, in robotics, it is not trivial to adjust existing algorithms designed for one robot to another robot. In this paper, we present our implementation of Guided Policy Search to the robotic arms of the Baxter Research Robot. To meet the goals and needs of the project, we build on an existing implementation of Baxter Agent class for the Guided Policy Search algorithm code using the built-in Python interface. This work is expected to play an important role in popularizing robot manipulation reinforcement learning methods on cost-effective robot platforms.
DBpia
ScienceON연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
