JP5750657B2 - 強化学習装置、制御装置、および強化学習方法 - Google Patents

強化学習装置、制御装置、および強化学習方法 Download PDF

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Publication number
JP5750657B2
JP5750657B2 JP2011074694A JP2011074694A JP5750657B2 JP 5750657 B2 JP5750657 B2 JP 5750657B2 JP 2011074694 A JP2011074694 A JP 2011074694A JP 2011074694 A JP2011074694 A JP 2011074694A JP 5750657 B2 JP5750657 B2 JP 5750657B2
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external force
virtual external
reinforcement learning
output
function
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JP2012208789A (ja
JP2012208789A5 (enExample
Inventor
徳和 杉本
徳和 杉本
雄悟 上田
雄悟 上田
忠明 長谷川
忠明 長谷川
総司 射場
総司 射場
赤塚　浩二
浩二 赤塚
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Honda Motor Co Ltd
ATR Advanced Telecommunications Research Institute International
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Honda Motor Co Ltd
ATR Advanced Telecommunications Research Institute International
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Priority to JP2011074694A priority Critical patent/JP5750657B2/ja
Priority to US13/432,094 priority patent/US8886357B2/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/03—Teaching system

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  • Engineering & Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)
JP2011074694A 2011-03-30 2011-03-30 強化学習装置、制御装置、および強化学習方法 Active JP5750657B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2011074694A JP5750657B2 (ja) 2011-03-30 2011-03-30 強化学習装置、制御装置、および強化学習方法
US13/432,094 US8886357B2 (en) 2011-03-30 2012-03-28 Reinforcement learning apparatus, control apparatus, and reinforcement learning method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011074694A JP5750657B2 (ja) 2011-03-30 2011-03-30 強化学習装置、制御装置、および強化学習方法

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JP2012208789A JP2012208789A (ja) 2012-10-25
JP2012208789A5 JP2012208789A5 (enExample) 2014-05-22
JP5750657B2 true JP5750657B2 (ja) 2015-07-22

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US (1) US8886357B2 (enExample)
JP (1) JP5750657B2 (enExample)

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JP6522488B2 (ja) * 2015-07-31 2019-05-29 ファナック株式会社 ワークの取り出し動作を学習する機械学習装置、ロボットシステムおよび機械学習方法
DE102016015936B8 (de) 2015-07-31 2024-10-24 Fanuc Corporation Vorrichtung für maschinelles Lernen, Robotersystem und maschinelles Lernsystem zum Lernen eines Werkstückaufnahmevorgangs
JP6240689B2 (ja) 2015-07-31 2017-11-29 ファナック株式会社 人の行動パターンを学習する機械学習装置、ロボット制御装置、ロボットシステム、および機械学習方法
JP6106226B2 (ja) * 2015-07-31 2017-03-29 ファナック株式会社 ゲインの最適化を学習する機械学習装置及び機械学習装置を備えた電動機制御装置並びに機械学習方法
US10839302B2 (en) 2015-11-24 2020-11-17 The Research Foundation For The State University Of New York Approximate value iteration with complex returns by bounding
JP6733239B2 (ja) 2016-03-18 2020-07-29 セイコーエプソン株式会社 制御装置及びロボットシステム
JP2017199077A (ja) * 2016-04-25 2017-11-02 ファナック株式会社 複数台の産業機械を有する生産システムの動作を最適化するセルコントローラ
CN106886451B (zh) * 2017-01-10 2020-10-27 广东石油化工学院 一种基于虚拟化容器技术的多工作流任务分配方法
JP6453919B2 (ja) * 2017-01-26 2019-01-16 ファナック株式会社 行動情報学習装置、行動情報最適化システム及び行動情報学習プログラム
JP6706223B2 (ja) * 2017-05-25 2020-06-03 日本電信電話株式会社 移動体制御方法、移動体制御装置、及びプログラム
JP6748135B2 (ja) * 2018-03-19 2020-08-26 ファナック株式会社 機械学習装置、サーボ制御装置、サーボ制御システム、及び機械学習方法
JP7131087B2 (ja) * 2018-05-31 2022-09-06 セイコーエプソン株式会社 ロボットシステムの制御方法およびロボットシステム
US11403513B2 (en) * 2018-09-27 2022-08-02 Deepmind Technologies Limited Learning motor primitives and training a machine learning system using a linear-feedback-stabilized policy
CN109711040B (zh) * 2018-12-25 2023-06-02 南京天洑软件有限公司 一种基于搜索方向学习的智能工业设计强化学习算法
EP3920000A4 (en) * 2019-01-30 2022-01-26 NEC Corporation CONTROL DEVICE, ORDER METHOD AND RECORDING MEDIA
JP7225923B2 (ja) 2019-03-04 2023-02-21 富士通株式会社 強化学習方法、強化学習プログラム、および強化学習システム
JP7379833B2 (ja) * 2019-03-04 2023-11-15 富士通株式会社 強化学習方法、強化学習プログラム、および強化学習システム
US12093001B2 (en) * 2019-05-22 2024-09-17 Nec Corporation Operation rule determination device, method, and recording medium using frequency of a cumulative reward calculated for series of operations
US11676064B2 (en) * 2019-08-16 2023-06-13 Mitsubishi Electric Research Laboratories, Inc. Constraint adaptor for reinforcement learning control
CN110496377B (zh) * 2019-08-19 2020-07-28 华南理工大学 一种基于强化学习的虚拟乒乓球手击球训练方法
DE102019130040A1 (de) * 2019-11-07 2021-05-12 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Prüfen einer automatisierten Fahrfunktion durch Reinforcement-Learning

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
JP4587738B2 (ja) * 2003-08-25 2010-11-24 ソニー株式会社 ロボット装置及びロボットの姿勢制御方法
JP4929449B2 (ja) * 2005-09-02 2012-05-09 国立大学法人横浜国立大学 強化学習装置および強化学習方法
US8458715B1 (en) * 2007-02-23 2013-06-04 Hrl Laboratories, Llc System for allocating resources to optimize transition from a current state to a desired state

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JP2012208789A (ja) 2012-10-25
US20120253514A1 (en) 2012-10-04
US8886357B2 (en) 2014-11-11

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