Eligibility Propagation to Speed up Time Hopping for Reinforcement Learning
Petar S. Kormushev*, Kohei Nomoto**, Fangyan Dong*,
and Kaoru Hirota*
*Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Yokohama, 226-8502, Japan
**Graduate School of Science and Engineering, Yamagata University, Yamagata, Japan
A mechanism called Eligibility Propagation is proposed to speed up the Time Hopping technique used for faster Reinforcement Learning in simulations. Eligibility Propagation provides for Time Hopping similar abilities to what eligibility traces provide for conventional Reinforcement Learning. It propagates values from one state to all of its temporal predecessors using a state transitions graph. Experiments on a simulated biped crawling robot confirm that Eligibility Propagation accelerates the learning process more than 3 times.
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