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FUN With Pendulum #6, Reinforcement Learning for the Inverted Double Pendulum
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Hey guys,
this video illustrates the learning process of an artificial agent that learns to balance an inverted double pendulum. The problem of training a software agent that learns intelligent behaviour in a particular environment is addressed in a subfield of machine learning called reinforcement learning. The exact learning strategy I used is called neuroevolution, which is one of the simplest ways to face the exploration-exploitation dilemma.
If you are interested in the equations of motion I used and how exactly I derived them, you find it in the following pdf in section 3.3.2.
Acknowledgements:
Music: The Workers, a Swiss funk band with me on the keys.
Music: Diledadafish, contemporary Swiss folk music with the sense of dadaistic humour and the feeling of red garlic.
Video: Meret, my beloved girlfriend, who helped me with the video recording.
this video illustrates the learning process of an artificial agent that learns to balance an inverted double pendulum. The problem of training a software agent that learns intelligent behaviour in a particular environment is addressed in a subfield of machine learning called reinforcement learning. The exact learning strategy I used is called neuroevolution, which is one of the simplest ways to face the exploration-exploitation dilemma.
If you are interested in the equations of motion I used and how exactly I derived them, you find it in the following pdf in section 3.3.2.
Acknowledgements:
Music: The Workers, a Swiss funk band with me on the keys.
Music: Diledadafish, contemporary Swiss folk music with the sense of dadaistic humour and the feeling of red garlic.
Video: Meret, my beloved girlfriend, who helped me with the video recording.
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