As an
academic project I coded 3 reinforcement learning algorithms to learn how to a
robot could to walk.
I used the V function
with the Bellman equation, the Q function with a reformulation of the Bellman
equation, and the Q learning algorithm with an approach E-greedy.
For the
implementation of the algorithms I used a reward vector with a punishment when
the robot goes down and goes back and with a reward when the robot goes
forward. Likewise I used a transition vector with the different possible robot actions
having false for the transitions which make the robot falls over.
Paris - France, November
2012
