CONTENTS
Contributors = ⅸ
Preface = xi
1 Introduction to Robot Learning / Jonathan H. Connell ; Sridhar Mahadevan = 1
1 Motivation = 1
2 The Robot Learning Problem = 4
3 Background = 9
4 Domains = 13
5 Roadmap = 16
2 Knowledge-based Training of Artificial Neural Networks for Autonomous Robot Driving / Dean A. Pomerleau = 19
1 Introduction = 19
2 Network Architeture = 21
3 Network Training = 22
4 Performance Improvement Using Transformations = 36
5 Results and Comparison = 39
6 Discussion = 42
3 Learning Multiple Goal Behavior via Task Decomposition and Dynamic Policy Merging / Steven Whitehead ; Jonas Karlsson ; Josh Tenenberg = 45
1 Introduction = 46
2 Basics of Reinforcement Learning = 48
3 Multiple Goal Tasks = 56
4 A Decomposition Approach = 63
5 Search-based Merging = 68
6 A Hybrid Architecture = 75
7 Summary = 77
4 Memory-based Reinforcement Learning : Converging with Less Data and Less Real Time / Andrew W. Moore ; Christopher G. Atkeson = 79
1 Introduction = 79
2 Prioritized Sweeping = 85
3 A Markov Prediction Experiment = 87
4 Learning Control of Markov decision Tasks = 90
5 Experimental Results = 96
6 Discussion = 100
7 Conclusion = 102
5 Rapid Task Learning for Real Robots / Jonathan H. Connell and Sridhar Mahadevan = 105
1 Introduction = 105
2 Behavior-based Reinforcement Learning = 106
3 Exploiting Local Spatial Structure = 117
4 Using Action Models = 124
5 Highly Structured Learning = 132
6 Summary = 139
6 The Semantic Hierarchy in Robot Learning / Benjamin Kuipers ; Richard Froom ; Wan-Yik Lee ; David Pierce = 141
1 Introduction = 142
2 The Cognitive Map and the Semantic Hierarchy = 143
3 From Simulated Robot to Physical Robots = 150
4 From Tabula Rasa to Cognitive Mapping = 155
5 From Low-Speed to High-Speed Motion = 162
6 Conclusions = 166
7 Uncertainty In graph-Based Map Learning / Thomas Dean ; Keneth Basye ; Leslie Kaelbling = 171
1 Introduction = 171
2 Qualitative Navigation and Map Learning = 172
3 Theoretical Development = 174
4 Problem Classification = 178
5 Summary of Results = 179
6 Conclusions = 190
8 Real Robots, Real Learning Problems / Rodney A. Brooks ; Maja J. Mataric = 193
1 Introduction = 193
2 Motivation = 194
3 The Main Types of Learning = 197
4 The Main Methods of Learning = 205
5 Simulation = 209
6 Conclusion = 212
Bibliography = 215
Index = 235
