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In the field of machine learning, reinforcement learning stands out for its ability to explore approaches to complex, high dimensional problems that outperform even expert humans. For robotic locomotion tasks reinforcement learning provides an approach to solving them without the need for unique controllers. In this thesis, two reinforcement learning algorithms, Deep Deterministic Policy Gradient and Group Factor Policy Search are compared based upon their performance in the bipedal walking environment provided by OpenAI gym. These algorithms are evaluated on their performance in the environment and their sample efficiency.
ContributorsMcDonald, Dax (Author) / Ben Amor, Heni (Thesis director) / Yang, Yezhou (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor)
Created2018-12
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Publisher) / Arizona Board of Regents (Publisher)
Created1939
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Creator) / Marine Biological Laboratory (Publisher)
Created2006
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Creator) / Marine Biological Laboratory (Publisher)
Created2007
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Publisher) / Arizona Board of Regents (Publisher)
Created1944
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Publisher) / Arizona Board of Regents (Publisher)
Created1945
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Publisher) / Arizona Board of Regents (Publisher, Publisher)
Created1948
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Creator) / Marine Biological Laboratory (Publisher)
Created1996
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Publisher) / Arizona Board of Regents (Publisher)
Created1955
ContributorsMarine Biological Laboratory (Woods Hole, Mass.) (Publisher, Publisher) / Arizona Board of Regents (Publisher, Publisher)
Created1960