Experiments to illustrate a novel methodology for reinforcement learning in embodied physical agents are described. A simulated legged robot is decomposed into structurebased modules following the authors' EMBER principles ...

The state-spaces needed to describe realistic--physical embodied agents are extremely large, which presents a serious challenge to classical einforcement learning schemes. In previous work--(Jacob et al., 2005a, Jacob et ...

A new reinforcement learning algorithm designed--specifically for robots and embodied systems--is described. Conventional reinforcement learning methods intended for learning general tasks suffer from a number of disadvantages ...