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History of Robotics Research and Development of Japan1996Integration, Intelligence, etc.Purposive Behavior Acquisition for a Real Robot by Vision-Based Reinforcement Learning

Minoru AsadaGraduate School of Engineering, Osaka University
Shoichi NodaGraduate School of Engineering, Osaka University
Sukoya TawaratsumidaGraduate School of Engineering, Osaka University
Koh HosodaGraduate School of Engineering, Osaka University
The article is a DVD data set for the paper entitled "Purposive Behavior Acquisition for a Real Robot by Vision-Based Reinforcement Learning" published in the IEEE ICRA 1995, and nominated one of 10 candidates for the best paper award among more than 1000 submissions. A video clip is a part of NHK TV program "Science Eye" broad-casted on September 6th, 1997 *. The scenes viewed from a learning robot is shown. The robot actions in the early stage are almost random due to the lack of the knowledge, but in the later stage, the robot found a red ball, tracked it, and then shot it into a blue goal utilizing the color information every 30ms. The motor commands are sent based on the learning result of the mapping between a state indicating the appearance of the red ball and the blue goal and an action optimal for the state. The results and the following achievements can be observed in the RoboCup competitions. 10th (1996) RSJ Best Paper Award *): Copyright of the video data uploaded on this page is owned by Osaka University, because the video data had been captured by the robot.

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