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Pattern Recognition and Artificial Intelligence  2022, Vol. 35 Issue (1): 1-16    DOI: 10.16451/j.cnki.issn1003-6059.202201001
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Model-Based Reinforcement Learning in Robotics: A Survey
SUN Shiguang1, LAN Xuguang1, ZHANG Hanbo1, ZHENG Nanning1
1. Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an 710049

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Abstract  

The model-based reinforcement learning makes robots closer to human-like learning and interaction by learning an environment model and optimizing policy or planning based on the model. In this paper, the definition of robot learning problems is described, and model-based reinforcement learning methods in robot learning are introduced, including mainstream model learning and model utilization methods. The mainstream model learning methods are given including the forward dynamics model, the inverse dynamics model and the implicit model. The model utilization methods are presented including model-based planning, model-based policy learning and implicit planning. The current problems on model-based reinforcement learning are discussed. Aiming at the problems of the robot learning task in reality, the application of model-based reinforcement learning is illustrated and the future research directions are analyzed.

Key wordsArtificial Intelligence      Robot Learning      Reinforcement Learning      Model-Based Reinforcement Learning     
Received: 08 January 2022     
Fund:

National Key Research and Development Program of China(No.2021ZD0112700), General Program of National Natural Science Foundation of China(No.62125305,62088102,61973246), Program of Ministry of Education of China for Universities

Corresponding Authors: LAN Xuguang, Ph.D., professor. His research interests include computer vision and machine learning.   
About author:: SUN Shiguang, Ph.D. candidate. His research interests include model-based reinforcement learning and robot controlling.
ZHANG Hanbo, Ph.D. candidate. His research interests include deep reinforcement learning and robot controlling.
ZHENG Nanning, Ph.D., professor. His research interests include computer vision and pattern recognition.
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SUN Shiguang
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SUN Shiguang,LAN Xuguang,ZHANG Hanbo等. Model-Based Reinforcement Learning in Robotics: A Survey[J]. Pattern Recognition and Artificial Intelligence, 2022, 35(1): 1-16.
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http://manu46.magtech.com.cn/Jweb_prai/EN/10.16451/j.cnki.issn1003-6059.202201001      OR     http://manu46.magtech.com.cn/Jweb_prai/EN/Y2022/V35/I1/1
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