Reinforcement and shaping in learning action sequences with neural dynamics

Neural dynamics offer a theoretical and computational framework, in which cognitive architectures may be developed, which are suitable both to model psychophysics of human behaviour and to control robotic behaviour. Recently, we have introduced reinforcement learning in this framework, which allows an agent to learn goal-directed sequences of behaviours based on a reward signal, perceived at the end of a sequence. Although stability of the dynamic neural fields and behavioural organisation allowed to demonstrate autonomous learning in the robotic system, learning of longer sequences was taking prohibitedly long time. Here, we combine the neural dynamic reinforcement learning with shaping, which consists in providing intermediate rewards and accelerates learning.We have implemented the new learning algorithm on a simulated Kuka YouBot robot and evaluated robustness and efficacy of learning in a pick-and-place task.