Artificial Intelligence for Robotics

Summary

Our task for this chapter was to use machine learning to teach the robot how to use its robot arm. We used two techniques with some variations. We used a variety of reinforcement learning, called Q-learning, to develop a movement path by selecting individual actions based on the robot's arm state. Each motion was scored individually as a reward, and as part of the overall path as a value. The process stored the results of learning into a Q-matrix that could be used to generate a path. We improved our first cut at the reinforcement learning program by indexing, or encoding, the motions from a 27-element array of possible combinations of motors to a number from 0 to 26, and likewise indexing the robot state to a state lookup table. ...