Cited by 476Reinforcement Learning in RoboticsAdaptive Dynamic Programming ControlNeural Networks and Applications

Multiple model-based reinforcement learning

Doya, Kenji, Samejima, Kazuyuki, Katagiri, Ken-ichi, Kawato, Mitsuo·2002·Neural Computation

Abstract

We propose a modular reinforcement learning architecture for nonlinear, nonstationary control tasks, which we call multiple model-based reinforcement learning (MMRL). The basic idea is to decompose a complex task into multiple domains in space and time based on the predictability of the environmental dynamics. The system is composed of multiple modules, each of which consists of a state prediction model and a reinforcement learning controller. The "responsibility signal," which is given by the softmax function of the prediction errors, is used to weight the outputs of multiple modules, as well as to gate the learning of the prediction models and the reinforcement learning controllers. We formulate MMRL for both discrete-time, finite-state case and continuous-time, continuous-state case. The performance of MMRL was demonstrated for discrete case in a nonstationary hunting task in a grid world and for continuous case in a nonlinear, nonstationary control task of swinging up a pendulum with variable physical parameters.

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Crossref · 10.1162/089976602753712972

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  • Two ends of a spectrum of reinforcement learning methods are model-based and model-free control, and these have been associated with goal-directed and habitual control, respectively.

    “Two ends of a spectrum of RL methods are model-based and model-free control (where the term model refers to a mental as opposed to a computational model); it is these that have been associated with goal-directed and habitual control, respectively (Daw et al., 2005; Doya et al., 2002).”

    From Goals and Habits in the Brain (2013) · cites this paper as Doya et al., 2002

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Authors
Doya, K., Samejima, K., Katagiri, K.-I., & Kawato, M.
Affiliations
  • Japan Science and Technology Agency (JP)
  • Advanced Telecommunications Research Institute International (JP)
  • Nara Institute of Science and Technology (JP)
Corresponding author
  • Doya, Kenji
  • Samejima, Kazuyuki
  • Katagiri, Ken-ichi
  • Kawato, Mitsuo
Venue
Neural Computation
Published
2002-06-01
Volume
14
Issue
6
Pages
1347-1369
ISSN
  • 0899-7667 (ISSN-L)
  • 1530-888X
OpenAlex
W2168342951
Cited by
476
References
31
Citations by year
2026: 11 · 2025: 17 · 2024: 17 · 2023: 21 · 2022: 14 · 2021: 40 · 2020: 29 · 2019: 22 · 2018: 20 · 2017: 16 · 2016: 20 · 2015: 30 · 2014: 18 · 2013: 21 · 2012: 15
FWCI
12.03
Type
journal article
Language
en
Open access
closed
Locations
  • Neural Computation (publishedVersion)
  • PubMed (publishedVersion)
Funders
Massachusetts Institute of Technology
Topics
  • Physical Sciences › Computer Science › Artificial Intelligence › Reinforcement Learning in Robotics
  • Physical Sciences › Computer Science › Computational Theory and Mathematics › Adaptive Dynamic Programming Control
  • Physical Sciences › Computer Science › Artificial Intelligence › Neural Networks and Applications
Keywords
nonlinear control, task decomposition
MeSH terms
Humans, Learning, Mental Processes, Models, Psychological, Reinforcement, Psychology

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