Q-Learning with adaptive state segmentation (QLASS)

Q-learning is an efficient algorithm to acquire adaptive behavior of the robot without a priori knowledge of the sensor space and the task. However, there is a problem in applying the Q-learning to the task in the real world-how to construct the state space suitable for the Q-learning without knowledge of the sensor space? In this paper we propose Q-learning with adaptive state segmentation (QLASS). QLASS provides a method to segment the sensor space incrementally, based on sensor vectors and reinforcement signals. Experimental results show that QLASS can segment the sensor space effectively to accomplish the task. Furthermore, we show the obtained state space reveals the fitness landscape