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On Optimizing Interdependent Skills: A Case Study in Simulated 3D Humanoid Robot Soccer (2011)
Daniel Urieli
,
Patrick MacAlpine
,
Shivaram Kalyanakrishnan
, Yinon Bentor, and
Peter Stone
In several realistic domains an agent's behavior is composed of multiple
interdependent
skills. For example, consider a humanoid robot that must play soccer, as is the focus of this paper. In order to succeed, it is clear that the robot needs to walk quickly, turn sharply, and kick the ball far. However, these individual skills are ineffective if the robot falls down when switching from walking to turning, or if it cannot position itself behind the ball for a kick. This paper presents a learning architecture for a humanoid robot soccer agent that has been fully deployed and tested within the RoboCup 3D simulation environment. First, we demonstrate that individual skills such as walking and turning can be parameterized and optimized to match the best performance statistics reported in the literature. These results are achieved through effective use of the CMA-ES optimization algorithm. Next, we describe a framework for optimizing skills
in conjunction
with one another, a little-understood problem with substantial practical significance. Over several phases of learning, a total of roughly 100--150 parameters are optimized. Detailed experiments show that an agent thus optimized performs comparably with the top teams from the RoboCup 2010 competitions, while taking relatively few man-hours for development.
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Citation:
In
Proc. of 10th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS'11)
, May 2011.
Bibtex:
@inproceedings{AAMAS11-urieli, title={On Optimizing Interdependent Skills: A Case Study in Simulated 3D Humanoid Robot Soccer}, author={Daniel Urieli and Patrick MacAlpine and Shivaram Kalyanakrishnan and Yinon Bentor and Peter Stone}, booktitle={Proc. of 10th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS'11)}, month={May}, url="http://www.cs.utexas.edu/users/ai-lab?AAMAS11-urieli", year={2011} }
People
Shivaram Kalyanakrishnan
Ph.D. Alumni
shivaram [at] cs utexas edu
Patrick MacAlpine
Ph.D. Student
patmac [at] cs utexas edu
Peter Stone
Faculty
pstone [at] cs utexas edu
Daniel Urieli
Ph.D. Alumni
urieli [at] cs utexas edu
Areas of Interest
Humanoid Robots
RoboCup
Simulated Robot Soccer
Labs
Learning Agents