Pole Balancer

HMC CS 152: Neural Networks, Keller F97

Chris Lewis & Jeff Lawson

• Our Paper
• User-guided pole balancing
• One-layer Adaptive Heuristic Critic (AHC)
• Two-layer Adaptive Heuristic Critic (AHC)
• Symbiotic Adaptive Neuro-Evolution (SANE)
• Our Java Source Code

• Ball Balancing on Beam Problem (Java)
• Charles W. Anderson (Colorado State)
  • C. Anderson and Z. Hong. Reinforcement Learning with Modular Neural Networks for Control. Proceedings of NNACIP'94, the IEEE International Workshop on Neural Networks Applied to Control and Image Processing, 1994. (42 KB compressed postscript)
  • Inverted Pendulum in TCL/Tk
  • Multilayer Adaptive Heuristic Critic (C)
  • Non-working user-guided pole balancing game (Java 1.1)
• David E. Moriarty (Univ. Texas) Symbiotic Adaptive Neuron-Evolution (SANE)
  • Moriarty, D. E. and Miikkulanen, R. (1994). Efficient Reinforcement Learning through Symbiotic Evolution. Technical Report AI94-224, Department of Computer Sciences, The University of Texas at Austin.
  • Moriarty's SANE source (C)
  • Moriarty's SANE pole source (C)
• Rich Sutton's pole-balancing simulator for the single-layer Adaptive Heuristic Critic (C)
• John D. DeCuir (UCLA) [non-working links]
• David J. Finton (Univ. Wisconsin-Madison)
  • Cart-pole driver module (C)
  • Q-learning cart-pole controller module (C)