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@InProceedings{AAAI15-MacAlpine2,
  author = {Patrick MacAlpine and Mike Depinet and Peter Stone},
  title = {{UT} {A}ustin {V}illa 2014: {R}obo{C}up 3{D} Simulation League Champion via Overlapping Layered Learning},
  booktitle = {Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI)},
  location = {Austin, Texas, USA},
  month = {January},
  year = {2015},
  volume = 4,
  pages = {2842--48},
  abstract={
     Layered learning is a hierarchical machine learning paradigm that enables 
learning of complex behaviors by incrementally learning a series of 
sub-behaviors.  A key feature of layered learning is that higher layers directly 
depend on the learned lower layers.  In its original formulation, lower layers 
were frozen prior to learning higher layers.  This paper considers an extension 
to the paradigm that allows learning certain behaviors independently, and then 
later stitching them together by learning at the "seams" where their influences 
overlap.  The UT Austin Villa 2014 RoboCup 3D simulation team, using such 
overlapping layered learning, learned a total of 19 layered behaviors for a 
simulated soccer-playing robot, organized both in series and in parallel.  To 
the best of our knowledge this is more than three times the number of layered 
behaviors in any prior layered learning system.  Furthermore, the complete 
learning process is repeated on four different robot body types, showcasing its 
generality as a paradigm for efficient behavior learning.  The resulting team 
won the RoboCup 2014 championship with an undefeated record, scoring 52 goals 
and conceding none.  This paper includes a detailed experimental analysis of 
the team's performance and the overlapping layered learning approach that led 
to its success. 
  },
  wwwnote={Accompanying videos at <a href="http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2014/html/overlappingLayeredLearning.html">http://www.cs.utexas.edu/~AustinVilla/sim/3dsimulation/AustinVilla3DSimulationFiles/2014/html/overlappingLayeredLearning.html</a>},
}