Download Action Selection methods using Reinforcement Learning.

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J!6E3 6)J!A6>,r±² ²K04 6-,j;*5-<B/*//3 !H.h?X0848&3 J*6>8&!95J!6E3 6>,F}o;*5=?A*'j.=4@3 [604 *G3 *1 .+*6>8 K Z *6-!26>8[6J04 1T;!26><!GJ!6E3 6>,g*3&6a*[1"6-8/! ¯ ?%64 */*3 Y!9!A?A6?4 *G=3 ?A*')(+!A6?04 6?4 *G3 6>8&!3 "!P*G/3 J!A6c6>*n,-!9!eD8[6;8(/(+!/3 ,"D8/!3 6-8/!AG548G3 D8/!H3 [J!E3 6>, 48G3 6>8/!e6>*( kX!95DJ!A6e[5-*3=&3 Br6-*G!o$^(/*548/3 JB=4 f!A5-!6h3 6*) | }%K 4 J3/5-!H &KG?X/3 /3 *lm.s!,7!9!3 6>*r.s!)r,7(s!A?4 T?X,7!)*1"6>8/!GJ!6/3 !954 ?G,-?F8/!A')! 504 6-8)6-8/!º0*"!95"kX!A5;!A')(&6K ¯ /3 *[6>8/!A5;,-(+!9?6k4 ?9,-!º"*3/0B .+!Z6-8/!º'G*5-!D1b'4 @k4 5 L kX!A5"8=04 !95-5-?F8EG*1W 4 J3/57!g &K #| &3 *6>!D6>8´6"6-8=4 , 4 ,cB/!9,4 JG&3 !9B ,7*n6>8/[6;3(48^3 _03=04 6-! *Y*()*1V?9*'G')//3 B/, 4 ,:04 ')(+*,7,?4 .&!l}oK ¯ /3 *6>8&!95,7(s!A?k4 [s?9,-!P"*3/0B#.s!Z6>*j8X`!P6>8/! ,>[')!DJ!E3 6>,", 48G3 04 J3/57!a &K P./3&6 48/3 ?A3/B&!D/*[1s6-8/!9' 4@23 6>8/! ¯ ?A604 *G23 ^!90!9?%64 */3 6>8&!@| 14*5-'G!9570E0*l;!A5F}F) |^ }º*//3 !9,g857B/0@!A`!95a5483=3,48/3 Jz*G=3 6-8/!04 5a*5v3 |46-8=4 ,P4 , 'G*5-!#@4 <[!)D8[62"!r?A6-3008BC4@3 E}%KUI8/!z.[,?4 ?MF4 !A5>57?F8=4 ?9 !X[5?3=4@/3 J 4 ,P,7* 73/,76:;/3 *6>8&!95P,7(s!A?k4 [\?X,7! 54 6>8y#,?4@/3 J0!>) | }*//3 0@J!6h3 64@@3 6>8&!j6>*( kX!959K # 3 ^² ¹ ²±/B \8=4 !A5>57?F8E^J!E3 6-, 4@G3 6-8/! ¯ ?A6?4 *G23 ^!A!9?%604 *G)3 X!95T?9 J!E3 6>, 48 3 *l"!95Pl!95AsD8=04 ?F8=?X0 J!E3 6>,94@ 3 143/5t6>8/!A5P*l"!95ºX!95AW//3 B@,-*z*G3 KaUI8,4 , 4 ,G?%6>3[0 73/,76)/&3 *6>8/!A5,-(+!9?4 I?X[,-!u54 6>8 0kX!A5-,G*6>8&!956>8/3 6>8&! ¯ ?A6?4 *G3 ^!A!9?%604 *Gu 3 X!95D_/67648&3 J4@/3 ,?04 B/!a6>8/!:,?4@/3 J0! *l"!95ekX!A59¶ *16>8/!:J!&3 !95?04 ?g?X,7!KIUI8/! J!6E3 6>,<483 6-8/! *l;!A5#kX!959¶5-!@6-8/!3 B=4 `.4 B/!AB 48E3 6>*J57*3/(/,#54 6>8w573/!A,z.+*3&6 D8=04 ?F8u*6-8/!95eJ!E3 6>,e/u3 J!6h3 69¶ ,*) | }?X/r3 5-!%14!95I6>*/K]UI8&!C[B&`[/E3 6FJ!g*1,-!%6-6?48/3 J 3/( ,-3/?F8v5-3/0!9,u| (/57621457*' !&3 ,-3/548/3 JJE/4@3 6>8[6/3 * 48^3 _03=04 6-!z*Y*(?X;v3 *Y?9?93&5F} "*3/BH.+!P6>*257!9B/3/?A!a6>8/!a,4 9!a*[1 4@#3 6>8/!) | },76>[6>!A,-(?A!/6-8[654 ,A&57!9B/3/?A!a6>8/! h3 3/'j.+!95"*1 3/,-!%143/ ¶^J!6E3 6>,"6-8[6"/E3 G*G/3 !ºJ!E3 6"8,c6>*:<.&3 *®.+*3&69K ¯ ,T"!º8X`! + % !%&%$ * * $ %$ * * * ; !ª Q(x,a) or Q(x,i) of another one in this or lower layer Q(x,a) or Q(x,i) of another one in this or lower layer Q(x,a) or Q(x,i) of another one in this or upper layer Action Selection level (agents build up W-values) Q(x,a) or Q(x,i) of another one in this or lower layer Q(x,a) or Q(x,i) of another one in this or upper layer passive level (agents have no W-values, just Q-values and wait to be called) Q(x,a) or Q(x,i) of another one in this or upper layer 40J3/5-!z &K L.CUI8/!GJ6! 3/!95 4?14*5-' *[1 Z!A,76-!9Bi!X[5?3=4@3/J/K ?%64*/3 ^!A!A?A640*G3v|b*G3 6>8&!P.,4,;*[1O483=40'7409!D6>8/!Zi*57,76 F3/8[(/(=483&!9,-,>}"6F<[!9,I(/¯ ?9!º'G*G3/JC6-8/!aJ!3E6>, 483#6-8/!P6>*(rX!95;G* 3/0K]UI8/!a5 483=3&!95')X#*5')XM3/*[6I?X0 /3rJ!3E65483#6-8/!a*l"!95 kX!959K 6 ! Q(x,a) or Q(x,i) of one below Action Selection level Q(x,a) or Q(x,i) of one below Q(x,a) or Q(x,i) of one below Q(x,a) Q(x,a) Q(x,a) 4J3/57!j &K , ¯ 6Y(=4?9 14*57'*1Z!A,76>!ABu!X[5?3=4@3/J/K ,>;4B2.+!A14*57!6>8/*3&J8u|¡lYK L^K}o8=4!A5>57?F8=4!A,T5-!I*/3/0C(5t64?A3/k[5 ?X[,-!9,T*1 6-8/!I')*5-! J!63/!95-W')*YB/!A /; 3/OB 3&*56 3/!9?A!9,7,>5 40 6>8/!g'G*,756 4@3h6-!957!9,7?6 483/J?9,-!A,Z6! 406>8&!959K M %aN " %,"-' i[6>N< 483&,9¶ E±² ² -± o¸ ¸ 0 i[6-.< 4@3/,9W ^ ,-8/*lD,; 3/*6>8&!95]X*1f8X.` 483/J J6! 3E6>,D3/,-!:*6-8/!95eJ6! 3E6>,c.Ez,-6! 3/=B 483&J)!o$&(&8 46? 406I*5-B/!A5-,9K 3@!A3/B 0!X5 3=483&J/& G±´°%¹ J! 3E6e,-! 3&B/,º2?A*')')/ 3/Bz6-*) °%²± ;J6! 3E6X 6>!A@ 483/OJ 406n6-*6F<[!#6>8/!z?A5-!9[6>3/57!#6>*y,-*')!#,t6F[6-!|4D=8 40?F86>8/!z'),t6>!95jJ! 3E6')X 3/*6N< 3/*l8/*l6>*y57!X?F8 G* 3 406-,2*5 3}%KUI8/!H,-X`!rJ6! 3h657!9?A! 40`!9,G5-!%57B/,214*5 ,-3&?9?9!A!9=B 4@3/J 4@3{?95-5t. 483/J *3&6H6>8&!9,-!*57B/!957,9K U* 14*5-')8 40,-!D6>8&!'),t6>!95H8[,@ %¸¹ G±¸ O4@3w*(+!95>´6 4/* 3 KxUI,8 4,H?%6>300 14*5-'G,#([576H*1g6>8&! ,t6F[6-!¶ *1I6-8/!#,-X`!K e?, 4@3/J@6>8&M! 3/*6>[6 40G* 3 Y\6-8/!#,7kX`! 5 40c5-!A?9! 4`! 5-!%[5-B/,D14*56>5-/ 3/, 406 40G* 3/,*[16-8/!a14*5-' * '#() 5/ = 1 0 1 3546387 9; 6< < <= ? 0 ? !"# Z*6-!j6>8´694'G')!AB=4k´6>!9z6>8/!2?A*'G' / 3&BC?F8;3/J!9,AW;! ! 73/'G(6>*H/3=!63E6457!9 3/!% 7, 6>[6>!a14*56-8/!g,-kX`!C;3/BO46I')l ,76>576eB/*G4@3/J,-*'G!A6-8=483&J2!3E6405-!9#B=4f!A5-!63h69K 4`!63Hj,-kX`!P6>8[68,I!95?3E6"6>8=40,9&6-8/!P'),76-!95;540+!X[5?3 6-8[6 46I?X/3z57!X?F8 H,76F´6>!G.h140,-,73=483/Jz6-8/!)57!90!A`[/3E6:?9*'G' ;3/B K Z,?4@3/Jz6>8/!3/*6>[640*G3 46 540 3/*[6>!a6>8´6I6>8/!a14*0*l5 483/JC5 4f8(/(+! 3 " IU 8[6 40,96-8/!'),76-!95!X[5?3/,6>8[66>8/!";*57Bj8/,\,76>[6>!"6>5>;3/,?464*/3/, | 2/}W,-3&?F8 6>8/[6 o| 9}J4,a8,4J8 K6g6-8/!3!X[5?3/,PD8´6n[?A640*G3/,a6>*z6><!G.,7!9B*G3D8/[6>!%`!95 406C;3h6-,j6>*=J!%6jB/*/3/!K Z*[6>! 6-8[6I46j?X;3!X[5?3@?F8//483iº6>8[6 o| 2/}4,j8=40J8 / 3/Br6>8/6! 3 %| A} 4,D`!95tr=8 4J8fK ^*)6-8/!n'G*^B&!9WB/*Y!9F, 3/*6e1b/ 4 41 6>8&!n,-X`!C6><!A,P 3h3/'j.+!95D*1,76-!9(/,D6>*2143/_f6>8&!:*5-B/!A59K UI8/!n'),t6>!95D')Xz.s!C./0!P6>*G8X`!nG, 4'G(/!A5I,76F´6>!:,-(?A!n[,º5-!A,-3/6Z*[1 6>,8 4, B/!A!9J[6 40G* 3 K*5j!%$&'G(/0! 483 YK0K ?X; 3 *5-B/!A5 6-*=J!A6 46j6>*6-8/!z,76>[6>! D8/!A5->! 4J6 4*, 3/*6º?X5757. 483&J 14*^*YB|4,-* 6-8[P6 ! 406Z?X/ 36-8/! 3=,7!A6P* 14*5º( 3/!%x57!A;5-B}%K H,7! 3/,7!9, © | A}g; 3/B6><!A, H')*l`!)[?A6 40G* 3/,AK ! ,-6! 3/,-!A, © | }a/ 3/B 6F[<!9, g')*l`!Z?%6 4/* 3/,](/3&:, La?9*')')/ 3/BG?%6 4/* 3/,e|4D8/6! 3)6-8/!Z?A5-!9[6>3/57!Z57!X?F8&!9,T6>8/! 3/!A,76X ! 5 40 ;/ 3E6:6>*r?F8/ 3/J!G6>8/!G?9*')')/ 3/B=6>*rB/* 3/*6-=8 483/JE}%K UI8&!)?A*'j=. 4@3/!9B ,76>[6>!)/ 3/Bi?A?6 4G* 3'G!9'G*57=57!9»h=3 405-!9'G! 3E6-,n*1 ! / 3/B 4, [ªª/D8&!95-!9,n14*5: 'GG* 3/*@ 406>,8 4? ! ,-! 3&?, 483&J ©q| }:; 3/Bi6F[.< 4@3/J u'G*`!#?%6 40G* 3/, 406g;*3/B.+! !QL[¢&K *5)6-8/!@!X[?5 3=4@3/JJ! 3E6>M, 4@3v6>8/[6#,7!9?A?6 4G* 36-8/!?A*'j=. 4@3/!9Bw,t6F[6-!=/ 3/B ?%6 4/* 3G,7(?A!e;, L &E./3&6c57!9?X[/6>8/[6 ?A*3/B 3/*[6"!o$^(/8 40? 406-0n?X0 )| 406T?9*3/B G* 3/#B/57*(r*3&6D*16>8/!g?A*')(+!A?6 40?6 4G* 3z; 3/Bu8&! *(s!a6-8[6 2"*3/0Bz5 483 }oK JE; 483 ?%6 40G* 3 ^!A!A?A6 40G* 3@'n3/,76Z6F<[!n(/?9!:,-*'G!AD8&!95-![ / 3&B@6>8/!C., 4?:(/?5 4@3^ ?40(/¯ !g*1 ¯ ?%6¯ 4*/3 ^!A!A?A640*G34,e3=3/?F8/3&J!9B KIUI8&!n'),76-!95*4,D3/,?4@3/J6>8/!C,-kX`!:14*5546>, *l5 3)(&3/5-(+*,-!A,9K\UI8&!e,7kX`5! 4@3/B/!9!AB8, 3/*g(/3/57(s*,-!9,T*1 46>,]*l5 3 Y/ 3/B,-*g?9/ 3=3/*6T.+! 483z6-8/! ¯ ?A?6 4G* 3 ^!A!9?%6 40G* 3u0*^*( K 3!93&B 0!X5 3=483&Jr| ,e=B 4,t6 4@3/?A6I1457*' !93/B/ 0!X5 3=483/JE} ¯ ?A?6 4G* 3 ^!90!9?A?6 4G* 35 4\6><! 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Layer 1 - Action Selection layer. Agents build up W-values. Action Selection based on Minimize the Worst Unhappiness. Agents have goals. Q(x,a) or Q(x,i) of one in layers 1 or 2 or send Q(x,c) to one in layer 3 Q(x,a) or Q(x,i) of one in layers 1 or 2 or send Q(x,c) to one in layer 3 Q(x,a) or Q(x,i) of one in layers 1 or 2 or send Q(x,c) to one in layer 3 Layer 2 - normal passive layer. Agents have no W-values (just wait to be called). Agents have goals. Layer 3 - slave passive layer. Agents have no W-values (just wait to be called). Agents do not have goals. 40J3/5-!n &K«ª=]UI8/!:J!3/!A5> 14*5-'*[1\4^*Y?40!A6z*1\O4@3/BH.,-!AB@*G3 D !4@3&14*5-?A!9'G!3E6 W!X5 3=483&J/K]UI=8 4, 40,g¸ ´¹W2=8 4!A5>57?F8hK * ! 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