Robot Learning SS 2020 Exam PDF

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Robot Learning SS 2020 20 Questions 90 Minutes each question 4 – 5 points •

Explain Bayesian Model Inference

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Difference between value and reward

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Complete Max-Margin formulation how is the value calculated and what to do against Reward ambiguity and teachers suboptimality.

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Difference between Q-learning and TD(0)

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apply the synchronous backup rule for iterative policy evaluation

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What needs to be defined for a POMPD.

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Assume a POMPD with 2 underlying states and 3 possible observations. What is the probability for the states after an observation?

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Assume a POMPD with 3 underlying states and 3 possible actions. What is the probability for State 3 after an action? There where 2 belief given (state 1 and state 2) 18 probabilities for being in a state under the condition of the state bevor and the action what is chosen. (belief for state 3 and 9 more conditional probabilities had to been calculated)

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Show that the temporal difference method TD(1) is equivalent to Monte Carlo sampling.

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Explain a linear state feedback controller

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How does the function calculation works with a Function Approximation like Tile coding?

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How is an eligibility trace calculated

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Backup Diagramm vor SARSA

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How could soft-max action selection change between greedy and soft?

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Write down the Bellman equation with and without Expectation operator

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Which policy should an agent follow, if it is given the optimal value?

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Explain QMDP

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explain exploitation und exploration. How is it used in RL

+2 Questions...