The deep reinforcement learning method usually requires a large number of training images and executing actions to obtain sufficient results. When it is extended a real-task in the real environment with an actual robot, the method will be required more training images due to complexities or noises of the input images, and executing a lot of actions on the real robot also becomes a serious problem. Therefore, we propose an extended deep reinforcement learning method that is applied a generative model to initialize the network for reducing the number of training trials. In this paper, we used a deep q-network method as the deep reinforcement learning method and a deep auto-encoder as the generative model. We conducted experiments on three different tasks: a cart-pole game, an atari game, and a real-game with an actual robot. The proposed method trained efficiently on all tasks than the previous method, especially 2.5 times faster on a task with real environment images.
Reinforcement learning @cite_16 is an approach for training action policies with maximizing future cumulative rewards. There are several algorithms, such as Q-learning @cite_6 and TD-gammon @cite_24 . The TD-gammon applied a multi-layer perceptron for calculating approximated values, this achieved a human level to play a backgammon game.
@cite_24 @cite_16 @cite_6
2131600418 2121863487
Ever since the days of Shannon's proposal for a chess-playing algorithm [12] and Samuel's checkers-learning program [10] the domain of complex board games such as Go, chess, checkers, Othello, and backgammon has been widely regarded as an ideal testing ground for exploring a variety of concepts and approaches in artificial intelligence and machine learning. Such board games offer the challenge of tremendous complexity and sophistication required to play at expert level. At the same time, the problem inputs and performance measures are clear-cut and well defined, and the game environment is readily automated in that it is easy to simulate the board, the rules of legal play, and the rules regarding when the game is over and determining the outcome. Reinforcement learning, one of the most active research areas in artificial intelligence, is a computational approach to learning whereby an agent tries to maximize the total amount of reward it receives when interacting with a complex, uncertain environment. In Reinforcement Learning, Richard Sutton and Andrew Barto provide a clear and simple account of the key ideas and algorithms of reinforcement learning. Their discussion ranges from the history of the field's intellectual foundations to the most recent developments and applications. The only necessary mathematical background is familiarity with elementary concepts of probability. The book is divided into three parts. Part I defines the reinforcement learning problem in terms of Markov decision processes. Part II provides basic solution methods: dynamic programming, Monte Carlo methods, and temporal-difference learning. Part III presents a unified view of the solution methods and incorporates artificial neural networks, eligibility traces, and planning; the two final chapters present case studies and consider the future of reinforcement learning.