SkyAI: Highly modularized reinforcement learning library

This paper introduces a software library of reinforcement learning (RL) methods, named SkyAI. SkyAI is a highly modularized RL library for real/simulated robots to learn behaviors. Our ultimate goal is to develop an artificial intelligence (AI) program with which the robots can learn to behave as their users´ wish. In this paper, we describe the concepts, the requirements, and the current implementation of SkyAI. SkyAI provides two conflicting features: high execution-speed enough for real robot systems and high flexibility to design learning systems. We also demonstrate the applications to crawling tasks of both a humanoid robot in simulation and a real spider robot.