Forward and Bidirectional Planning Based on Reinforcement Learning and Neural Networks in a Simulated Robot

摘要

Building intelligent systems that are capable of learning, acting reactively and planning actions before their execution is a major goal of artificial intelligence. This paper presents two reactive and planning systems that contain important novelties with respect to previous neural-network planners and reinforcement-learning based planners: (a) the introduction of a new component (”matcher”) allows both planners to execute genuine taskable planning (while previous reinforcement-learning based models have used planning only for speeding up learning); (b) the planners show for the first time that trained neural-network models of the world can generate long prediction chains that have an interesting robustness with regards to noise; (c) two novel algorithms that generate chains of predictions in order to plan, and control the flows of information between the systems’ different neural components, are presented; (d) one of the planners uses backward ”predictions” to exploit the knowledge of the pursued goal; (e) the two systems presented nicely integrate reactive behavior and planning on the basis of a measure of ”confidence” in action. The soundness and potentialities of the two reactive and planning systems are tested and compared with a simulated robot engaged in a stochastic path-finding task. The paper also presents an extensive literature review on the relevant issues.