Real-time learning: a ball on a beam

In the Real-Time Learning Laboratory at GTE Laboratories, machine learning algorithms are being implemented on hardware testbeds. A modified connectionist actor-critic system has been applied to a ball balancing task. The system learns to balance a ball on a beam in less than 5 min and maintains the balance. A ball can roll along a few inches of a track on a flat metal beam, which an electric motor can rotate. A computer learning system running on a PC senses the position of the ball and the angular position of the beam. The system learns to prevent the ball from reaching either end of the beam. The system has shown to be robust through sensor noise and mechanical changes; it has also generated many interesting questions for future research