This simulator contains the code used to compare (neuron-level) SANE to one- and two-layer adaptive heuristic critics in the inverted pendulum problem. The code for the single-layer Adaptive Heuristic Critic was adapted from Rich Sutton's pole-balancing simulator. The code for the two-layer AHC was adapted from Charles Anderson's pole simulator. Codes for all three methods are included in this package, together with sample runs for each. The simulators are currently set up to balance a pole on a cart starting from random positions with random initial velocities. To always start from a centered pole and cart with no initial velocities, set RANDOM_START to 0. For more details, see the paper on pole-balancing comparisons.

Comments to moriarty@isi.edu.

Versions:

v1.0 2/21/95 moriarty