For intelligent robots to accomplish tasks in an unstructured environment, the adaptive critic algorithm has been shown to provide useful approximations or even optimal control policies to non-linear systems. The purpose of this paper is to explore the use of new learning control methods defined as Creative Learning or Creative Control that goes beyond the adaptive critic method for unstructure...

We consider the estimation of the policy gradient in partially observable Markov decision processes (POMDP) with a special class of structured policies that are finite-state controllers. We show that the gradient estimation can be done in the Actor-Critic framework, by making the critic compute a “value” function that does not depend on the states of POMDP. This function is the conditional mean...

this paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. a reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. the model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. fixed points corresponding to cyclic bounding motions are found and calcul...

Inductive theorem provers often diverge. This paper describes a critic which monitors the construction of inductive proofs attempting to identify diverging proof attempts. The critic proposes lemmas and generalizations which hopefully allow the proof to go through without divergence. The critic enables the system SPIKE to prove many theorems completely automatically from the deenitions alone.

Heuristic Dynamic Programming (HDP) is the simplest kind of Adaptive Critic 1]. It can be used to maximize or minimize any utility function, such as total energy or trajectory error, of a system over time in a noisy environment. In this article, we propose a new version of HDP, called NHDP (Natural Heuristic Dynamic Programming). This new version incorporates basic HDP algorithm with the follow...

This paper proposes a reinforcement fuzzy adaptive learning control network (RFALCON), constructed by integrating two fuzzy adaptive learning control networks (FALCON), each of which has a feedforward multilayer network and is developed for the realization of a fuzzy controller. One FALCON performs as a critic network (fuzzy predictor), the other as an action network (fuzzy controller). Using t...

The rapid development of technology promotes the vast expansion of new items in many domains of consumer products. Problem occurs when the new items are continuously added but cannot get reached by the consumers. Many existing recommender systems work well only for well-known items with sufficient ratings but fail to discover new items, and content-based approaches suffer from insufficient item...

ahmad matar – iraqi satirical poet – attempted to save the arabic governments from imperialistic yoke who tried to arrogate nations’ freedom. his poetic language has sensible characteristics which the poet applies them in order to invite people to freedom and liberty. norm breaking is one of his poetry’s features. the present article tries to survey the vocal norm breaking – including rhyme, rh...

This paper investigates a novel model-free reinforcement learning architecture, the Natural Actor-Critic. The actor updates are based on stochastic policy gradients employing Amari’s natural gradient approach, while the critic obtains both the natural policy gradient and additional parameters of a value function simultaneously by linear regression. We show that actor improvements with natural p...

Mg alloys have a vast usage where weight reduction is really significant since they do the features really well for materials of ultra-light weight. However, Mg is inherently a reactive metal and its alloys generally possess quite weak corrosion resistance that widely restricts their technological usages, especially in some rough service conditions. Despite, many investigations on the passive a...